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Adaptive Communication for Mobile Multi-Robot Systems
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| 자료유형 | 학위논문 |
|---|---|
| 서명/저자사항 | Adaptive Communication for Mobile Multi-Robot Systems. |
| 개인저자 | Marcotte, Ryan J. |
| 단체저자명 | University of Michigan. Computer Science & Engineering. |
| 발행사항 | [S.l.]: University of Michigan., 2019. |
| 발행사항 | Ann Arbor: ProQuest Dissertations & Theses, 2019. |
| 형태사항 | 113 p. |
| 기본자료 저록 | Dissertations Abstracts International 81-04B. Dissertation Abstract International |
| ISBN | 9781687927491 |
| 학위논문주기 | Thesis (Ph.D.)--University of Michigan, 2019. |
| 일반주기 |
Source: Dissertations Abstracts International, Volume: 81-04, Section: B.
Advisor: Olson, Edwin. |
| 이용제한사항 | This item must not be sold to any third party vendors.This item must not be added to any third party search indexes. |
| 요약 | Mobile multi-robot systems can be immensely powerful, serving as force multipliers for human operators in search-and-rescue operations, urban reconnaissance missions, and more. Key to fulfilling this potential is robust communication, which allows robots to share sensor data or inform others of their intentions. However, wireless communication is often unreliable for mobile multi-robot systems, exhibiting losses, delays, and outages as robots move through their environment. Furthermore, the wireless communication spectrum is a shared resource, and multi-robot systems must determine how to use its limited bandwidth in accomplishing their missions.This dissertation addresses the challenges of inter-robot communication in two thrusts. In the first thrust, we improve the reliability of such communication through the application of a technique we call Adaptive Erasure Coding (AEC). Erasure codes enable recovery from packet loss through the use of redundancy. Conditions in a mobile robotic network are continually changing, so AEC varies the amount of redundancy applied to achieve a probabilistic delivery guarantee.In the second thrust, we describe a mechanism by which robots can make communication decisions by considering the expected effect of a proposed communication action on team performance. We call this algorithm Optimizing Communication under Bandwidth Constraints (OCBC). Given a finite amount of available bandwidth, OCBC optimizes the contents of a message to respect the bandwidth constraint. |
| 일반주제명 | Computer science. Robotics. |
| 언어 | 영어 |
| 바로가기 | 
: 이 자료의 원문은 한국교육학술정보원에서 제공합니다. |
