Active QoS Flow Maintenance in Controlled Mobile Networks

Abstract

Applications involving teams of mobile robots will require robots within the system to form connections to other members with certain quality of service (QoS) requirements. We present a distributed control architecture that allows robots participating in routing a QoS flow to maintain the required level of service while addressing secondary objectives. A distributed control system preserves global properties using "best-effort", error-suppressing controllers. We outline a routing protocol that dynamically reconfigures a flow by recruiting neighboring robots if it believes a routing fault may occur. We evaluate the control architecture and dynamic configuration protocol in simulation, using the ns-2 network simulator and Player/Stage robot simulator platforms.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA439279

Entities

People

  • John D. Sweeney
  • Prashant Shenoy
  • Roderic Grupen

Organizations

  • University of Massachusetts Amherst

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Ad Hoc Networks
  • Cellular Networks
  • Computer Science
  • Computers
  • Computing System Architectures
  • Line Of Sight
  • Maintenance
  • Mesh Networks
  • Mobile Ad Hoc Networks
  • Mobile Phones
  • Network Topology
  • Networks
  • Range Finders
  • Robots
  • Simulations
  • Simulators
  • Transmitters

Fields of Study

  • Computer science

Readers

  • Computer Networking
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control