Title:
When Good Comms Go Bad: Communications Recovery for Multi-Robot Teams
When Good Comms Go Bad: Communications Recovery for Multi-Robot Teams
Author(s)
Arkin, Ronald C.
Ulam, Patrick D.
Ulam, Patrick D.
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Abstract
Ad-hoc networks among groups of autonomous mobile
robots are becoming a common occurrence as teams of robots
take on increasingly complicated missions over wider areas.
Research has often focused on proactive means in which the
individual robots of the team may prevent communication
failures between nodes in this network. This is not always
possible especially in unknown or hostile environments. This
research addresses reactive aspects of communication recovery.
How should the members of the team react in the event of unseen
communication failures between some or all of the nodes in the
network? We present a number of behaviors to be utilized in the
event of communications failure as well as a behavioral sequencer
to further enhance the effectiveness of these recovery behaviors.
The performance of the communication recovery behaviors is
analyzed in simulation and their application on hardware
platforms is discussed.
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Date Issued
2003
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Text
Resource Subtype
Paper