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Value-Based Communication Preservation for Mobile Robots

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Value-Based Communication Preservation VBCP is a behavior-based,computationally efficient approach to maintaining line-of-sight RF communicationbetween members of robot teams in the context of other tasks. The goal of VBCPis, at each time step, to reactively choose a direction in which to move that providesthe best communication quality of service with the rest of the team. VBCP usesinformation about other robots, real-time quality of service measurements and an apriori map of the environment to approximate an optimal direction in an efficientmanner. Here, VBCP maintains communication between members of a robotic teamwhile traversing an urban environment in formation. Quantitative and qualitativeresults are demonstrated in simulation and physical robot teams.

Mobile Robot Laboratory Publications - Mobile Robot Laboratory -

Autor: Balch, Tucker - Powers, Matthew - -


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