Publication

Reliable, Cloud-based Communication for Multi-Robot Systems

Ronny Hartanto, Markus Eich

In: The 6th Annual IEEE International Conference on Technologies for Practical Robot Applications. IEEE International Conference on Technologies for Practical Robot Applications (TePRA-2014) April 14-15 Woburn Massachusetts United States IEEE 4/2014.

Abstract

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.

Projekte

Weitere Links

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz