Advertisement

A Loose Synchronisation Protocol for Managing RF Ranging in Mobile Ad-Hoc Networks

  • Luis Oliveira
  • Luis Almeida
  • Frederico Santos
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7416)

Abstract

Robot motion coordination and cooperative sensing are nowadays two important and inter-related components of multi-robot cooperation. Particularly, when concerning motion coordination, distance information plays a very important role in mobile robotics. In this work, we investigate a new solution based on ad-hoc communication without global knowledge, particularly clock synchronisation, to measure distance between mobile units and to share that information. In order to improve ranging, medium throughput, and application predictability, we propose using a synchronisation protocol that keeps transmissions in the team as separated as possible in time, independently of the topology. Results show around 3.3 times reduction in the number of failed ranges without external interference and an order of magnitude reduction in the asymmetries among the nodes concerning the number of failed ranges when using the proposed synchronisation protocol.

Keywords

TDMA synchronisation cooperation information exchange relative localisation 

References

  1. 1.
    Crenshaw, T., Tirumala, A., Hoke, S., Caccamo, M.: A robust implicit access protocol for real-time wireless collaboration. In: ECRTS 2005 - 17th Euromicro Conference on Real-Time Systems, pp. 177–186 (July 2005)Google Scholar
  2. 2.
    Facchinetti, T., Buttazzo, G., Almeida, L.: Dynamic resource reservation and connectivity tracking to support real-time communication among mobile units. EURASIP J. Wireless Communications and Networking 2005(5), 712–730 (2005)zbMATHGoogle Scholar
  3. 3.
    Fazenda, P., Lima, P.: Non-holonomic robot formations with obstacle compliant geometry. In: IAV - IFAC Symposium on Intelligent Autonomous Vehicles (2007)Google Scholar
  4. 4.
    Li, H., Almeida, L., Carramate, F., Wang, Z., Sun, Y.: Connectivity-aware motion control among autonomous mobile units. In: SIES - International Symposium on Industrial Embedded Systems, pp. 155–162 (June 2008)Google Scholar
  5. 5.
    Nanotron: nanoloc development kit (2010), http://www.nanotron.com/EN/PR_nl_dev_kit.php
  6. 6.
    Neuwinger, B., Witkowski, U., Rückert, U.: Ad-hoc communication and localization system for mobile robots. In: Kim, J.-H., Ge, S.S., Vadakkepat, P., Jesse, N., Al Manum, A., Puthusserypady, S.K., Rückert, U., Sitte, J., Witkowski, U., Nakatsu, R., Braunl, T., Baltes, J., Anderson, J., Wong, C.-C., Verner, I., Ahlgren, D. (eds.) Advances in Robotics. LNCS, vol. 5744, pp. 220–229. Springer, Heidelberg (2009)CrossRefGoogle Scholar
  7. 7.
    Oliveira, L., Li, H., Almeida, L.: Experiments with navigation based on the rss of wireless communication. In: ROBOTICA 2010 10th Conference on Mobile Robots and Competitions (March 2010)Google Scholar
  8. 8.
    Ryan, A., Tisdale, J., Godwin, M., Coatta, D., Nguyen, D., Spry, S., Sengupta, R., Hedrick, J.: Decentralized control of unmanned aerial vehicle collaborative sensing missions. In: ACC 2007 - American Control Conference, pp. 4672–4677 (July 2007)Google Scholar
  9. 9.
    Santos, F., Almeida, L., Lopes, L.: Self-configuration of an adaptive tdma wireless communication protocol for teams of mobile robots. In: ETFA - IEEE Int. Conference on Emerging Technologies and Factory Automation, pp. 1197–1204 (2008)Google Scholar
  10. 10.
    Song, K.T., Tsai, C.Y., Huang, C.H.C.: Multi-robot cooperative sensing and localization. In: ICAL - IEEE International Conference on Automation and Logistics, pp. 431–436 (September 2008)Google Scholar
  11. 11.
    Wang, Z., Hirata, Y., Kosuge, K.: Checking movable configuration space in c-closure object for object caging and handling. In: ROBIO - IEEE International Conference on Robotics and Biomimetics, pp. 336–341 (2005)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Luis Oliveira
    • 1
  • Luis Almeida
    • 1
    • 3
  • Frederico Santos
    • 2
    • 3
  1. 1.DEEC-FEUP/ITUniversidade do PortoPortugal
  2. 2.DEE-ISECInst. Politecnico de CoimbraPortugal
  3. 3.IEETAUniversidade de AveiroPortugal

Personalised recommendations