TENTACLES: Self-Configuring Robotic Radio Networks in Unknown Environments

Harris Chi Ho Chiu, Bo Ryu, Hua Zhu, Pedro Szekely, Rajiv Maheswaran, Craig Rogers, Aram Galstyan, Behnam Salemi, Mike Rubenstein, and Wei-Min Shen. TENTACLES: Self-Configuring Robotic Radio Networks in Unknown Environments. In Proc. 2009 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, St. Louis, MO, October 2009.

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Abstract

This paper presents a bio-inspired, distributed control algorithm called TENTACLES for a group of radio robots to move, self-configure and maintain communication between some critical entities (such as humans, command centers, or other systems) in an unknown environment. The basic idea is to direct robots� explorative movements to grow tentacles from entities and establish links when tentacles meet. This approach can self-heal failures of robots and improve communication coverage and quality over time. Experiments in simulations and real robots have shown positive results.

BibTeX Entry

@InProceedings{chiu2009TENTACLES,
  abstract	= {This paper presents a bio-inspired, distributed control algorithm called TENTACLES for a group of radio robots to move, self-configure and maintain communication between some critical entities (such as humans, command centers, or other systems) in an unknown environment. The basic idea is to direct robots� explorative movements to grow tentacles from entities and establish links when tentacles meet. This approach can self-heal failures of robots and improve communication coverage and quality over time. Experiments in simulations and real robots have shown positive results.},
  address	= {St. Louis, MO},
  author	= {Harris Chi Ho Chiu and Bo Ryu and Hua Zhu and Pedro Szekely and Rajiv Maheswaran and Craig Rogers and Aram Galstyan and Behnam Salemi and Mike Rubenstein and Wei-Min Shen},
  booktitle	= iros-09,
  month		= oct,
  title		= {TENTACLES: Self-Configuring Robotic Radio Networks in Unknown Environments},
  year		= {2009}
}