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Title: A reliable peer-to-peer protocol for multi-robot operating in mobile ad-hoc wireless networks
Authors: Dandashy, Tarek
Mouhamad, Mayez Al.
Khan, Irfan
Affiliations: Faculty of Arts and Sciences 
Keywords: Auction communication
Cooperative multi-robot
Distributed intelligence
Wireless protocol
Issue Date: 2019
Part of: International Arab Journal of Information Technology
Volume: 16
Issue: 1
Start page: 72
End page: 79
Cooperative behaviour in multi-robot systems are based on distributed negotiation mechanisms. A set of autonomous robots playing soccer may cooperate in deciding a suitable game strategy or role playing. Degradation in broadcast and multicast services are widely observed due to the lack of reliable broadcast in current IEEE 802.11. A reliable, Peer-To-Peer (P2P), fast auction-based broadcast is proposed for a team of robots playing soccer interconnected using an adhoc wireless mobile network. Auction broadcast includes a sequence order to determine the reply order of all nodes. This helps
minimizing the potential of Medium Access Control (MAC) conflicts. Repeated back-off are not desired especially at low load.
Uncoordinated negotiation lead to multiple outstanding auctions originated by distinct nodes. In this case, the sequence order becomes useless as auction times are interleaved. An adaptive MAC is proposed to dynamically adjust the reply. Protocols are
implemented as symmetric multi-threaded software on an experimental Wireless Local Area Network (WLAN) embedded system. Evaluation reports the distribution of auction completion times for peer-to-peer operations for both static and mobile
nodes. Protocol trade-offs with respect to auction response time, symmetry and fairness, and power consumption are discussed. Proposed protocols are embedded as a library for multi-robot Cooperative Behaviours (CBs). Evaluation shows the proposed protocol preferences versus the behavioural primitives with specific communication patterns.
ISSN: 16833198
Open URL: Link to full text
Type: Journal Article
Appears in Collections:Department of Computer Science

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