Low-Bandwidth Telerobotics in Fading Scenarios

Sensor networks can monitor wide areas to gather information and relay alerts about concerning events. Response robotic missions in confined scenarios where such a network existed, like tunnels or mines, could take advantage of it as a backbone. This paper addresses challenges arising from the combined characteristics of nodes, typically of low power and bandwidth, and signal propagation in such scenarios, that exhibits extended range but also blind spots due to waveguide self-interference. Firstly, a measurement campaign is reported that characterized RSSI and PDR performance of XBee nodes in the Somport tunnel, enabling improved placement of nodes. Then, a teleoperation mission is demonstrated in which a mobile robot that relays rangefinder readings is commanded thought a backbone multi-hop network, within the restrictions of the extremely limited bandwidth of the IEEE 802.15.4 protocol.

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