John Heidemann

Evaluating Control Strategies for Wireless-Networked Robots Using an Integrated Robot and Network Simulation

TitleEvaluating Control Strategies for Wireless-Networked Robots Using an Integrated Robot and Network Simulation
Publication TypeConference Paper
Year of Publication2001
AuthorsW. Ye, R. T. Vaughyan, G. S. Sukhatme, J. Heidemann, D. Estrin, and M. J. Matarić
Conference Nameproc # ieee-icra
Date Publishedmay
Conference LocationSeoul, Korea
Abstract

Wireless communication is an enabling factor in multiple mobile robot systems. There is signi cant interaction between robot controllers and communications sub-systems. We present a method for evaluating combined robot control/communication strategies for a team of wireless-networked robots performing a resource transportation task. Two alternative controller designs are compared under established communication and radio propagation models. For each we measure the over-all performance of the robot team including the cost of communication. The study illustrates how our evaluation tools can be used for designing controllers for robots operating in wireless communication environments.

URLhttp://www.isi.edu/%7ejohnh/PAPERS/Ye01a.html
Groups: