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A Networking Framework for Multi-Robot Coordination

Antonio ChellaDaniele PeriGiuseppe Lo ReIrene MacalusoMarco Ortolani

出版	INTECH Open Access Publisher, 2008
ISBN	39026132469783902613240
URL	http://books.google.com.hk/books?id=_8mfoAEACAAJ&hl=&source=gbs_api

註釋

This paper presented a framework for the coordination of a group of robots moving in a structured indoor environment in order to manage automatically guided museum tours. The design of a hybrid wireless networking architecture, composed by WiFi devices interoperating with wireless sensor nodes has been discussed, and it has been shown how it can operate as a whole in order both to provide a communication backbone for the robots, and to extract useful information from the environment. The robustness of the communication protocol implemented in the proposed framework has been enforced through a fault-tolerant leader election mechanism, which allows for an easy extension process of the innate system knowledge with new information acquired during run-time. Experiments have been carried on in the context of the RoboNet project conducted at the Archaeological Museum of Agrigento, Italy, and the proposed coordination mechanisms have been tested through simulations.