Open access
Date
2009-04Type
- Conference Paper
ETH Bibliography
yes
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Abstract
Teams of multiple mobile robots may communicate with each-other using a wireless ad-hoc network. Fault-tolerance in communication can be achieved by making the communication network bi-connected. We present the first localized protocol for constructing a fault-tolerant bi-connected robotic network topology from a connected network, in such a way that the total movement of robots is minimized. The proposed distributed algorithm uses p-hop neighbor information to identify critical head robots that can direct two neighbors to move toward each other and bi-connect their neighborhood. Simulation results show that the total distance of movement of robots decreases significantly (e.g. about 2.5 times for networks with density 10) with our localized algorithm when compared to the existing globalized one. Proposed localized algorithm does not guarantee bi-connectivity, may partition the network, and may even stop at connected but not bi-connected stage. However, our algorithm achieved 100% success on all networks with average degrees ≥10, and over 70% success on sparse networks with average degrees ≥5. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000157953Publication status
publishedExternal links
Journal / series
Telecommunication SystemsVolume
Pages / Article No.
Publisher
SpringerEvent
Subject
Mobile sensors; Robot networks; Fault tolerance; Distributed algorithm; Localized movement controlOrganisational unit
03340 - Widmayer, Peter / Widmayer, Peter
Notes
It was possible to publish this article open access thanks to a Swiss National Licence with the publisherMore
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ETH Bibliography
yes
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