The Design and Implementation of Swarm-Robot Communication Analysis Tool
With the rapid development of artificial intelligence and automation technology, robots have been widely applied in various fields. Compared with the single robot case, swarm robots have more strength in executing tasks by cooperation. However, multi-robot cooperation needs high-quality communication, which is also concentrated by this paper. In order to analyze the communication behavior of the swarm robots in the process of moving, this paper designs and implements a swarm-robot communication analysis (SRCA) tool in the Robot Operating System (ROS) software framework. This tool selects the packet error rate (PER) as the communication quality metric, simulates communication channels and packet loss, and provides visualization and playback capabilities, which are the functions that is not provided by existing ROS simulator. Then we simulate an outdoor formation application which involves 10 quadrotors, and verify the effectiveness of our tool in three different scenarios.
KeywordsPacket error rate Multi-robot ROS
This work is supported by the National Natural Science Foundation of China (No. 615307, No. 916484, No. 61601486), Research Programs of National University of Defense Technology (No. ZDYYJCYJ140601), and State Key Laboratory of High Performance Computing Project Fund (No. 1502-02).
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