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ATAL
2010
Springer

Establishing spatially targeted communication in a heterogeneous robot swarm

11 years 6 months ago
Establishing spatially targeted communication in a heterogeneous robot swarm
We consider a heterogeneous swarm consisting of aerial and wheeled robots. We present a system that enables spatially targeted communication. Our system enables aerial robots to establish dedicated communication links with individual wheeled robots or with selected groups of wheeled robots based on their position in the environment. The system does not rely on any form of global information. We show how a spatially targeted one-to-one communication link can be established using a simple LED and camera based communication modality. We provide a probabilistic model of our approach to derive an upper bound on the average time required for establishing communication. In simulation, we show that our approach scales well. Furthermore, we show how our approach can be extended to establish a spatially targeted one-to-many communication link between an aerial robot and a specific number of co-located wheeled robots. The heterogeneous swarm robotic hardware is currently under development. We th...
Nithin Mathews, Anders Lyhne Christensen, Eliseo F
Added 08 Nov 2010
Updated 08 Nov 2010
Type Conference
Year 2010
Where ATAL
Authors Nithin Mathews, Anders Lyhne Christensen, Eliseo Ferrante, Rehan O'Grady, Marco Dorigo
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