Experimental evaluation of the RT-WMP for typical multi-robot systems in real-life indoor environment

The RT-WMP is a token-passing protocol based protocol that applied to the mobile ad-hoc network. It has many advantages. For instance, it supports real-time traffic, multi-hop capabilities. Especially, the messages could be scheduled in the multi-robots communications so that the one with higher priority will be transmitted earlier. This paper analyzes the state-of-the-art of ad-hoc network protocols and evaluates the RT-WMP routing protocol for multi-robot systems in a typical indoor environment. Experimental results demonstrate that the RT-WMP protocol guarantees the priority of message transmission in real-time task implemented by the multi-robot system. In addition, the RT-WMP works steadily when we change the priority manually. This work is a benchmark for adding allocation strategies in the RT-WMP.

[1]  Roland Siegwart,et al.  Regional topological segmentation based on mutual information graphs , 2011, 2011 IEEE International Conference on Robotics and Automation.

[2]  Roland Siegwart,et al.  DP-Fusion A generic framework for online multi sensor recognition , 2012 .

[3]  Voon Chin Phua,et al.  Wireless lan medium access control (mac) and physical layer (phy) specifications , 1999 .

[4]  Roland Siegwart,et al.  An experimental evaluation of the RT-WMP routing protocol in an indoor environment , 2013, 2013 IEEE International Conference on Information and Automation (ICIA).

[5]  Roland Siegwart,et al.  Topological Mapping and Scene Recognition With Lightweight Color Descriptors for an Omnidirectional Camera , 2014, IEEE Transactions on Robotics.

[6]  Giorgio C. Buttazzo,et al.  Dynamic Resource Reservation and Connectivity Tracking to Support Real-Time Communication among Mobile Units , 2005, EURASIP J. Wirel. Commun. Netw..

[7]  Lujia Wang,et al.  An auction-based resource allocation strategy for joint-surveillance using networked multi-robot systems , 2013, 2013 IEEE International Conference on Information and Automation (ICIA).

[8]  Mukesh Singhal,et al.  Mobile Ad Hoc and Sensor Systems , 2006, Int. J. Wirel. Inf. Networks.

[9]  Lujia Wang,et al.  A game theoretical bandwidth allocation mechanism for cloud robotics , 2012, Proceedings of the 10th World Congress on Intelligent Control and Automation.

[10]  P. Goyal,et al.  MANET: Vulnerabilities, Challenges, Attacks, Application , 2011 .

[11]  Roland Siegwart,et al.  A Markov semi-supervised clustering approach and its application in topological map extraction , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Michael González Harbour,et al.  RT-EP: A Fixed-Priority Real Time Communication Protocol over Standard Ethernet , 2005, Ada-Europe.

[13]  Michael Bahr,et al.  Simulative analysis of the Hybrid Wireless Mesh Protocol (HWMP) , 2010, 2010 European Wireless Conference (EW).

[14]  David Starobinski,et al.  RTS/CTS-induced congestion in ad hoc wireless LANs , 2003, 2003 IEEE Wireless Communications and Networking, 2003. WCNC 2003..

[15]  Dirk Staehle,et al.  Intra-Mesh Congestion Control for IEEE 802.11s Wireless Mesh Networks , 2012, 2012 21st International Conference on Computer Communications and Networks (ICCCN).

[16]  Roland Siegwart,et al.  Towards real-time multi-sensor information retrieval in Cloud Robotic System , 2012, 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI).

[17]  Max Q.-H. Meng,et al.  Towards cloud robotic system: A case study of online co-localization for fair resource competence , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[18]  José Luis Villarroel,et al.  Real Time Communications over 802.11: RT-WMP , 2007, 2007 IEEE Internatonal Conference on Mobile Adhoc and Sensor Systems.