Value-Based Communication Preservation for Mobile Robots

Abstract

Value-Based Communication Preservation (VBCP) is a behavior-based, computationally efficient approach to maintaining line-of-sight radiofrequency 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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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA442293

Entities

People

  • Matthew J. Powers
  • Tucker Balch

Organizations

  • Georgia Tech

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Ad Hoc Networks
  • Algorithms
  • Computational Complexity
  • Computing System Architectures
  • Environment
  • Information Operations
  • Line Of Sight
  • Mesh Networks
  • Military Applications
  • Military Operations
  • Mobile Ad Hoc Networks
  • Networks
  • Robots
  • Simulations
  • Specifications
  • Targets

Fields of Study

  • Computer science

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Circadian Sleep-Wake Regulation and Chronobiology

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control