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Performance Analysis of Entropy-based Multi-Robot Cooperative Systems in a MANET  

Kim, Sang-Chul (School of Computer Science, Kookmin University)
Shin, Kee-Hyun (School of Mechanical Engineering, Konkuk University)
Woo, Chong-Woo (School of Computer Science, Kookmin University)
Eom, Yun-Shick (School of Mechanical Engineering, Konkuk University)
Lee, Jae-Min (School of Mechanical Engineering, Konkuk University)
Publication Information
International Journal of Control, Automation, and Systems / v.6, no.5, 2008 , pp. 722-730 More about this Journal
Abstract
This paper proposes two novel algorithms enabling mobile robots to cooperate with each other in a reliability-based system and a time-critical system. In the reliability-based cooperative system, the concepts of a mobile ad hoc network (MANET) and an object entropy are adopted in order to coordinate a specific task. A logical robot group is created based on the exchange of request and reply messages in a robot communication group whose organization depends on transmission range. In the time-critical cooperative system, relational entropy is used to define the relationship between mobile robots. A group leader is selected based on optimizing power consumption. The proposed algorithm has been verified based on the computer-based simulation and soccer robot experiment. The performance metrics are defined. The metrics include the number of messages needed to make a logical robot group and to obtain the relationship of robots and the power consumption to select a group leader. They are verified by simulation and experiment.
Keywords
Autonomous robots; entropy; message complexity; mobile ad hoc networks; robot cooperation;
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