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Robot Networking
Greg McChesneyTexas Tech University
Apr 21, 2009CS5331: Autonomous Mobile
Robots
A networked robot?
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Project Description
Create a communication layer for the robots to interact with each other
Communication layer will handle noise and lag
Utilize communication layer to share information and select team roles
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Expected results
Communication layer Team selection algorithm Both items should be close to real
time API to communication layer so other
modules can pass data.
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Communication Layer
Robot Discovery Leader Selection Role Assignment/Leader directed
communication Model Updates Guaranteed (TCP) and
nonguaranteed (Multicasting)
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Matt
David
Alice
Discovery
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Matt
David
Alice
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Matt
David
Alice
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Matt
David
Alice
Leader Selection
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Matt
David
Alice
RoleAssignment
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Matt
David
Alice
ModelUpdates
Experimental Setup
Creating Java interface which will allow for sending and receiving data.
The underlying class handles all communication
Testing using multiple “robots” on various hosts
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Current Status
Robot Discovery Agents automatically find each other
Threaded Input and Output Allows for simultaneous sending and
receiving Threads sleep when not in use to
prevent CPU hogging Team Leader Selection
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Areas still being researched
Role Assignment Create messages to notify robot of its
new mission Model Sharing
Share data about the world without bringing down the network
API So other applications can share too.
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Conclusions
Communication layer will provide easy method for inter-robot communication
Provides guaranteed and nonguaranteed communication options.
Built-in network control, to prevent overloading the network
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Future Work
Improve leader selection algorithm Add backup leader, to provide
redundancy Offload model, built API for model
updating
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Questions?
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