MRComm: Multi-Robot Communication Testbed

  • Tsvetan Zhivkov
  • Eric SchneiderEmail author
  • Elizabeth SklarEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11650)


This work demonstrates how dynamic robot behaviour that responds to different types of network disturbances can improve communication and mission performance in a Multi-Robot Team (MRT). A series of experiments are conducted which show how two different network perturbations (i.e. packet loss and signal loss) and two different network types (i.e. wireless local area network and ad-hoc network) impact communication. Performance is compared using two MRT behaviours: a baseline versus a novel dynamic behaviour that adapts to fluctuations in communication quality. Experiments are carried out on a known map with tasks assigned to a robot team at the start of a mission. During each experiment, a number of performance metrics are recorded. A novel dynamic Leader-Follower (LF) behaviour enables continuous communication through two key functions: the first reacts to the network type by using signal strength to determine if the robot team must commit to grouping together to maintain communication; and the second employs a special task status messaging function that guarantees a message is communicated successfully to the team members. The results presented in this work are significant for real-world multi-robot system applications that require continuous communication amongst team members.


Multi-robot team Behaviour-based control Dynamic roles 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of InformaticsKing’s College LondonLondonUK

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