Title:
Value-Based Communication Preservation for Mobile Robots
Value-Based Communication Preservation for Mobile Robots
Author(s)
Balch, Tucker
Powers, Matthew
Powers, Matthew
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Abstract
Value-Based Communication Preservation (VBCP) is a behavior-based,
computationally efficient approach to maintaining line-of-sight RF communication
between members of robot teams in the context of other tasks. The goal of VBCP
is, at each time step, to reactively choose a direction in which to move that provides
the best communication quality of service with the rest of the team. VBCP uses
information about other robots, real-time quality of service measurements and an a
priori map of the environment to approximate an optimal direction in an efficient
manner. Here, VBCP maintains communication between members of a robotic team
while traversing an urban environment in formation. Quantitative and qualitative
results are demonstrated in simulation and physical robot teams.
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Date Issued
2003
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Text
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Paper