Maintaining robust connectivity in heterogeneous robotic networks

P. Cruz; R. Fierro; W. Lu; S. Ferrari

doi:10.1117/12.2016236

17 May 2013 Maintaining robust connectivity in heterogeneous robotic networks

P. Cruz, R. Fierro, W. Lu, S. Ferrari

Proceedings Volume 8741, Unmanned Systems Technology XV; 87410N (2013) https://doi.org/10.1117/12.2016236
Event: SPIE Defense, Security, and Sensing, 2013, Baltimore, Maryland, United States

Abstract

In this paper, we are interested in exploiting the heterogeneity of a robotic network made of ground and aerial agents to sense multiple targets in a cluttered environment. Maintaining wireless communication on this type of networks is fundamentally important specially for cooperative purposes. The proposed heterogeneous network consists of ground sensors, e.g., OctoRoACHes, and aerial routers, e.g., quadrotors. Adaptive potential field methods are used to coordinate the ground mobile sensors. Moreover, a reward function for the aerial mobile wireless routers is formulated to guarantee communication coverage among the ground sensors and a fixed base station. A sub-optimal controller is proposed based on an approximate control policy iteration technique. Simulation results of a case study are presented to illustrate the proposed methodology.

Citation Download Citation

P. Cruz, R. Fierro, W. Lu, and S. Ferrari "Maintaining robust connectivity in heterogeneous robotic networks", Proc. SPIE 8741, Unmanned Systems Technology XV, 87410N (17 May 2013); https://doi.org/10.1117/12.2016236

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