In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE), consists of a Physical Control Plane (PCP) which commands agent position, and an Information Control Plane (ICP) which regulates information flow towards communication/sensing objectives. We describe an instantiation where a mobile robotic network is dynamically reconfigured to ensure high quality routes between static wireless nodes, which act as source/destination pairs for information flow. We demonstrate our propositions through simulation under a realistic wireless network regime.
Williams, R.K., Gasparri, A., Krishnamachari, B. (2014). Route swarm: Wireless network optimization through mobility. In IEEE International Conference on Intelligent Robots and Systems (pp.3775-3781). Institute of Electrical and Electronics Engineers Inc. [10.1109/IROS.2014.6943092].
Route swarm: Wireless network optimization through mobility
Gasparri, Andrea;
2014-01-01
Abstract
In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE), consists of a Physical Control Plane (PCP) which commands agent position, and an Information Control Plane (ICP) which regulates information flow towards communication/sensing objectives. We describe an instantiation where a mobile robotic network is dynamically reconfigured to ensure high quality routes between static wireless nodes, which act as source/destination pairs for information flow. We demonstrate our propositions through simulation under a realistic wireless network regime.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
