Advertisement

Distributed Algorithm for Robotic Network Self-deployment in Indoor Environments Using Wireless Signal Strength

  • Renato Miyagusuku
  • Atsushi Yamashita
  • Hajime Asama
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)

Abstract

Mobile robots with wireless capabilities can enable network connectivity over large areas by retransmitting wireless signals from a ground station. Our goal is, for such robotic networks, to enhance current teleoperated robots’ ability to perform reconnaissance or assist human first responders on victims’ search and rescue operations. On these missions, uninterrupted communications between teleoperated robots and their human operators are essential. In order to maximize the teleoperated robots’ working area, the robotic network has to deploy itself, in an unknown and potentially hazardous environment, spreading as much as possible without losing network connectivity. In this paper, we consider an urban search and rescue setting; and present a distributed algorithm that allows simple mobile robots to self-deploy and create robotic networks, without the need of advanced self-localization capabilities nor prior knowledge of the environment.

Keywords

Multi-agent systems Networked robotics Wireless signal strength 

References

  1. 1.
    Fabrizio Abrate, Basilio Bona, Marina Indri, Stefano Rosa, and Federico Tibaldi. Multi-robot map updating in dynamic environments. In Distributed Autonomous Robotic Systems, pages 147–160. Springer, 2013.Google Scholar
  2. 2.
    Mazda Ahmadi and Peter Stone. Keeping in touch: Maintaining biconnected structure by homogeneous robots. In Proceedings of the National Conference on Artificial Inteligence, volume 21, page 580. Menlo Park, CA; Cambridge, MA; London; AAAI Press; MIT Press; 1999, 2006.Google Scholar
  3. 3.
    Maxim A Batalin and Gaurav S Sukhatme. Spreading out: A local approach to multi-robot coverage. In Distributed Autonomous Robotic Systems 5, pages 373–382. Springer, 2002.Google Scholar
  4. 4.
    Karl Benkic, Marko Malajner, P Planinsic, and Z Cucej. Using rssi value for distance estimation in wireless sensor networks based on zigbee. In Systems, Signals and Image Processing, 2008. IWSSIP 2008. 15th International Conference on, pages 303–306. IEEE, 2008.Google Scholar
  5. 5.
    Subhrajit Bhattacharya, Nathan Michael, and Vijay Kumar. Distributed coverage and exploration in unknown non-convex environments. In Distributed Autonomous Robotic Systems, pages 61–75. Springer, 2013.Google Scholar
  6. 6.
    Eiman Elnahrawy, Xiaoyan Li, and Richard P Martin. The limits of localization using signal strength: A comparative study. In Sensor and Ad Hoc Communications and Networks, 2004. IEEE SECON 2004. 2004 First Annual IEEE Communications Society Conference on, pages 406–414. IEEE, 2004.Google Scholar
  7. 7.
    Koichi Gyoda, Yasushi Hada, and Osamu Takizawa. Performance analysis of the network models for the search robot rescue system in the closed spaces. In IEEE International Workshop on Safety, Security and Rescue Robotics, 2007. SSRR 2007., pages 1–6. IEEE, 2007.Google Scholar
  8. 8.
    James McLurkin and Jennifer Smith. Distributed algorithms for dispersion in indoor environments using a swarm of autonomous mobile robots. In Distributed Autonomous Robotic Systems 6, pages 399–408. Springer, 2007.Google Scholar
  9. 9.
    Renato Miyagusuku, Atsushi Yamashita, and Hajime Asama. Distributed algorithm for robotic network self-deployment using wireless signal strength measurements. In Proceedings of the Japan Society for Precision Engineering Spring Conference, 2014.Google Scholar
  10. 10.
    Ryan Morlok and Maria Gini. Dispersing robots in an unknown environment. In Distributed Autonomous Robotic Systems 6, pages 253–262. Springer, 2007.Google Scholar
  11. 11.
    Alejandro R Mosteo, Luis Montano, and Michail G Lagoudakis. Guaranteed-performance multi-robot routing under limited communication range. In Distributed Autonomous Robotic Systems 8, pages 491–502. Springer, 2009.Google Scholar
  12. 12.
    Chia Ching Ooi and Christian Schindelhauer. Energy-efficient distributed target tracking using wireless relay robots. In Distributed Autonomous Robotic Systems 8, pages 39–50. Springer, 2009.Google Scholar
  13. 13.
    Lynne E Parker. Alliance: An architecture for fault tolerant multirobot cooperation. Robotics and Automation, IEEE Transactions on, 14(2):220–240, 1998.Google Scholar
  14. 14.
    Lynne E Parker. Distributed algorithms for multi-robot observation of multiple moving targets. Autonomous robots, 12(3):231–255, 2002.Google Scholar
  15. 15.
    Tsuyoshi Suzuki, Ryuji Sugizaki, Kuniaki Kawabata, Yasushi Hada, and Yoshito Tobe. Deployment and management of wireless sensor network using mobile robots for gathering environmental information. In Distributed Autonomous Robotic Systems 8, pages 63–72. Springer, 2009.Google Scholar
  16. 16.
    Satoshi Tadokoro. Rescue Robotics: DDT Project on Robots and Systems for Urban Search and Rescue. Springer, 2009.Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Renato Miyagusuku
    • 1
  • Atsushi Yamashita
    • 1
  • Hajime Asama
    • 1
  1. 1.Department of Precision EngineeringThe University of TokyoTokyoJapan

Personalised recommendations