Reliable, cloud-based communication for multi-robot systems
Data(s) |
2014
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Resumo |
In contrast to single robotic agent, multi-robot systems are highly dependent on reliable communication. Robots have to synchronize tasks or to share poses and sensor readings with other agents, especially for co-operative mapping task where local sensor readings are incorporated into a global map. The drawback of existing communication frameworks is that most are based on a central component which has to be constantly within reach. Additionally, they do not prevent data loss between robots if a failure occurs in the communication link. During a distributed mapping task, loss of data is critical because it will corrupt the global map. In this work, we propose a cloud-based publish/subscribe mechanism which enables reliable communication between agents during a cooperative mission using the Data Distribution Service (DDS) as a transport layer. The usability of our approach is verified by several experiments taking into account complete temporary communication loss. |
Identificador | |
Publicador |
IEEE |
Relação |
DOI:10.1109/TePRA.2014.6869142 Hartanto, Ronny & Eich, Markus (2014) Reliable, cloud-based communication for multi-robot systems. In 2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), IEEE, Greater Boston Area, Massachusetts, USA, pp. 1-8. |
Direitos |
Copyright 2014 IEEE |
Fonte |
School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Tipo |
Conference Paper |