Abstract
Resource sharing is crucial in any multi-agent systems, a distributed robotic system (DRS) is not an exception. A new, general strategy of sharing multiple, discrete resources with predetermined capacities under the model of distributed robotic systems (DRS) is proposed. It is based upon a media access protocol, CSMA/CD-W (Carrier Sense Multiple Access with Collision Detection for Wireless), which supports wireless inter-robot communication among multiple autonomous mobile robots without using any centralized mechanism. This resource sharing strategy is derived based on the fact that with the single, time-multiplexed communication channel, asynchronous events for requesting and releasing resources are effectively serialized. It is shown that the control protocol is effective, efficient, reliable and robust.
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© 1994 Springer-Verlag Tokyo
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Wang, J., Premvuti, S. (1994). Resource Sharing in Distributed Robotic Systems Based on A Wireless Medium Access Protocol (CSMA/CD-W). In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems. Springer, Tokyo. https://doi.org/10.1007/978-4-431-68275-2_19
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DOI: https://doi.org/10.1007/978-4-431-68275-2_19
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-68277-6
Online ISBN: 978-4-431-68275-2
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