Reliable, cloud-based communication for multi-robot systems
Hartanto, Ronny & Eich, Markus (2014) Reliable, cloud-based communication for multi-robot systems. In 2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), IEEE, Greater Boston Area, Massachusetts, USA, pp. 1-8.
In contrast to single robotic agent, multi-robot systems are highly dependent on reliable communication. Robots have to synchronize tasks or to share poses and sensor readings with other agents, especially for co-operative mapping task where local sensor readings are incorporated into a global map. The drawback of existing communication frameworks is that most are based on a central component which has to be constantly within reach. Additionally, they do not prevent data loss between robots if a failure occurs in the communication link. During a distributed mapping task, loss of data is critical because it will corrupt the global map. In this work, we propose a cloud-based publish/subscribe mechanism which enables reliable communication between agents during a cooperative mission using the Data Distribution Service (DDS) as a transport layer. The usability of our approach is verified by several experiments taking into account complete temporary communication loss.
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|Item Type:||Conference Paper|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 IEEE|
|Deposited On:||07 May 2015 23:45|
|Last Modified:||12 May 2015 05:40|
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