Mobile Wireless Network Infrastructure on Demand
| Autor: | Alejandro Ribeiro, Vijay Kumar, Mikhail Gerasimenko, Daniel Mox, Jonathan Fink, Miguel Calvo-Fullana |
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| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology business.industry Computer science Wireless network Mobile wireless 020206 networking & telecommunications 02 engineering and technology Systems and Control (eess.SY) Electrical Engineering and Systems Science - Systems and Control Task (project management) Computer Science - Robotics 020901 industrial engineering & automation Work (electrical) On demand 0202 electrical engineering electronic engineering information engineering FOS: Electrical engineering electronic engineering information engineering Joint (building) business Robotics (cs.RO) Computer network |
| Zdroj: | ICRA |
| DOI: | 10.48550/arxiv.2002.03026 |
| Popis: | In this work, we introduce Mobile Wireless In-frastructure on Demand: a framework for providing wireless connectivity to multi-robot teams via autonomously reconfiguring ad-hoc networks. In many cases, previous multi-agent systems either assumed the availability of existing communication infrastructure or were required to create a network in addition to completing their objective. Instead our system explicitly assumes the responsibility of creating and sustaining a wireless network capable of satisfying end-to-end communication requirements of a team of agents, called the task team, performing an arbitrary objective. To accomplish this goal, we propose a joint optimization framework that alternates between finding optimal network routes to support data flows between the task agents and improving the performance of the network by repositioning a collection of mobile relay nodes referred to as the network team. We demonstrate our approach with simulations and experiments wherein wireless connectivity is provided to patrolling task agents. Comment: 7 pages, 7 figures, accepted to ICRA 2020 |
| Databáze: | OpenAIRE |
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