FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS
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articlePeer-reviewed
publishedVersion
Author
Slyusar, Khilda
Kulich, Miroslav
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Creative Commons Attribution 4.0 International Licensehttp://creativecommons.org/licenses/by/4.0/
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Assume a team of mobile robots operating in environments where no communication infrastructure like routers or access points is available. The robots have to create a mobile ad hoc network, in that case, it provides communication on peer-to-peer basis. The paper gives an overview of existing solutions how to route messages in such ad hoc networks between robots that are not directly connected and introduces a design of a software framework for realization of such communication. Feasibility of the proposed framework is shown on the example of distributed multi-robot exploration of an a priori unknown environment. Testing of developed functionality in an exploration scenario is based on results of several experiments with various input conditions of the exploration process and various sizes of a team and is described herein.
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