NexTech 2021 Congress
October 03, 2021 to October 07, 2021 - Barcelona, Spain

  • UBICOMM 2021, The Fifteenth International Conference on Mobile Ubiquitous Computing, Systems, Services and Technologies
  • ADVCOMP 2021, The Fifteenth International Conference on Advanced Engineering Computing and Applications in Sciences
  • SEMAPRO 2021, The Fifteenth International Conference on Advances in Semantic Processing
  • AMBIENT 2021, The Eleventh International Conference on Ambient Computing, Applications, Services and Technologies
  • EMERGING 2021, The Thirteenth International Conference on Emerging Networks and Systems Intelligence
  • DATA ANALYTICS 2021, The Tenth International Conference on Data Analytics
  • GLOBAL HEALTH 2021, The Tenth International Conference on Global Health Challenges
  • CYBER 2021, The Sixth International Conference on Cyber-Technologies and Cyber-Systems

SoftNet 2021 Congress
October 03, 2021 to October 07, 2021 - Barcelona, Spain

  • ICSEA 2021, The Sixteenth International Conference on Software Engineering Advances
  • ICSNC 2021, The Sixteenth International Conference on Systems and Networks Communications
  • CENTRIC 2021, The Fourteenth International Conference on Advances in Human-oriented and Personalized Mechanisms, Technologies, and Services
  • VALID 2021, The Thirteenth International Conference on Advances in System Testing and Validation Lifecycle
  • SIMUL 2021, The Thirteenth International Conference on Advances in System Simulation
  • SOTICS 2021, The Eleventh International Conference on Social Media Technologies, Communication, and Informatics
  • INNOV 2021, The Tenth International Conference on Communications, Computation, Networks and Technologies
  • HEALTHINFO 2021, The Sixth International Conference on Informatics and Assistive Technologies for Health-Care, Medical Support and Wellbeing

NetWare 2021 Congress
November 14, 2021 to November 18, 2021 - Athens, Greece

  • SENSORCOMM 2021, The Fifteenth International Conference on Sensor Technologies and Applications
  • SENSORDEVICES 2021, The Twelfth International Conference on Sensor Device Technologies and Applications
  • SECURWARE 2021, The Fifteenth International Conference on Emerging Security Information, Systems and Technologies
  • AFIN 2021, The Thirteenth International Conference on Advances in Future Internet
  • CENICS 2021, The Fourteenth International Conference on Advances in Circuits, Electronics and Micro-electronics
  • ICQNM 2021, The Fifteenth International Conference on Quantum, Nano/Bio, and Micro Technologies
  • FASSI 2021, The Seventh International Conference on Fundamentals and Advances in Software Systems Integration
  • GREEN 2021, The Sixth International Conference on Green Communications, Computing and Technologies

TrendNews 2021 Congress
November 14, 2021 to November 18, 2021 - Athens, Greece

  • CORETA 2021, Advances on Core Technologies and Applications
  • DIGITAL 2021, Advances on Societal Digital Transformation

 


ThinkMind // ICAS 2011, The Seventh International Conference on Autonomic and Autonomous Systems // View article icas_2011_5_10_20018


Topology Control of Mobile Robot Networks for Optimal Coverage and Connectivity using Irregular Hexagonalization

Authors:
Karthik Mahesh Varadarajan
Markus Vincze

Keywords: Multi-robot Networks, Topology Control, Outage, Fading Models, Hexagon, Deployment, Rayleigh, Log-Normal, Dynamic Network Topology, Mobile, Sensors

Abstract:
A number of multi-robot networks (operating both indoors and outdoors) such as security and surveillance systems, industrial manufacturing, mobile defense robotic systems, mobile distributed monitoring systems as well as other cooperative robotic network systems like robotic soccer require multiple robots to provide maximal coverage and connectivity while being able to rapidly adapt to changes in environmental and channel conditions. Variation in link quality in the transition region is often a major concern in wireless multi-robot sensor networks. The quality of the wireless link varies temporally as well as spatially. Traditional algorithms attempt at solving this issue through a combination of deployment schemes and power control, leading to various topology control mechanisms. In the case of mobile robot networks, it is possible to resolve this issue using the additional degree of freedom rendered by the mobility of the robots. In this paper we introduce a novel robot node deployment scheme and topology control mechanism that aims at maximizing coverage, connectivity while providing reliable communication under varying network conditions. The topology control is achieved by modeling the inverse signal loss, multi-path fading and other effects and combining them to control the topology of the network in an irregular hexagonal static/ mobile multi-robot deployment scheme. Experimental data, together with simulation results demonstrate connectivity enhancement under signal loss with mobility based topology control.

Pages: 94 to 99

Copyright: Copyright (c) IARIA, 2011

Publication date: May 22, 2011

Published in: conference

ISSN: 2308-3913

ISBN: 978-1-61208-134-2

Location: Venice/Mestre, Italy

Dates: from May 22, 2011 to May 27, 2011

SERVICES CONTACT
2010 - 2017 © ThinkMind. All rights reserved.
Read Terms of Service and Privacy Policy.