Browse > Article

Mobility-Aware Ad Hoc Routing Protocols for Networking Mobile Robot Teams  

Das, Saumitra M. (School of Electrical and Computer Engineering, Purdue University)
Hu, Y. Charlie (School of Electrical and Computer Engineering, Purdue University)
Lee, C.S. George (School of Electrical and Computer Engineering, Purdue University)
Lu, Yung-Hsiang (School of Electrical and Computer Engineering, Purdue University)
Publication Information
Journal of Communications and Networks / v.9, no.3, 2007 , pp. 296-311 More about this Journal
Abstract
Mobile multi-robot teams are useful in many critical applications such as search and rescue. Explicit communication among robots in such mobile multi-robot teams is useful for the coordination of such teams as well as exchanging data. Since many applications for mobile robots involve scenarios in which communication infrastructure may be damaged or unavailable, mobile robot teams frequently need to communicate with each other via ad hoc networking. In such scenarios, low-overhead and energy-efficient routing protocols for delivering messages among robots are a key requirement. Two important primitives for communication are essential for enabling a wide variety of mobile robot applications. First, unicast communication (between two robots) needs to be provided to enable coordination and data exchange. Second, in many applications, group communication is required for flexible control, organization, and management of the mobile robots. Multicast provides a bandwidth-efficient communication method between a source and a group of robots. In this paper, we first propose and evaluate two unicast routing protocols tailored for use in ad hoc networks formed by mobile multi-robot teams: Mobile robot distance vector (MRDV) and mobile robot source routing (MRSR). Both protocols exploit the unique mobility characteristics of mobile robot networks to perform efficient routing. Our simulation study show that both MRDV and MRSR incur lower overhead while operating in mobile robot networks when compared to traditional mobile ad hoc network routing protocols such as DSR and AODV. We then propose and evaluate an efficient multicast protocol mobile robot mesh multicast (MRMM) for deployment in mobile robot networks. MRMM exploits the fact that mobile robots know what velocity they are instructed to move at and for what distance in building a long lifetime sparse mesh for group communication that is more efficient. Our results show that MRMM provides an efficient group communication mechanism that can potentially be used in many mobile robot application scenarios.
Keywords
Mobile robotics; protocol architecture; wireless communication;
Citations & Related Records

Times Cited By Web Of Science : 2  (Related Records In Web of Science)
Times Cited By SCOPUS : 0
연도 인용수 순위
  • Reference
1 P. E. Rybski, S. A. Stoeter, M. Gini, D. F. Hougen, and N. Papanikolopoulos, 'Effects of limited bandwidth communications channels on the control of multiple robots,' in Proc. IEEE IROS, 2001, pp. 369-374
2 T. Balch and R. C. Arkin, 'Communication in reactive multiagent robotic systems,' Autonomous Robots, vol. 1, no. 1, pp. 27-52, 1994   DOI
3 S. M. Das, Y C. Hu, C. Lee, and Y-H. Lu, 'Supporting many-to-one communication in mobile multi-robot ad hoc sensing networks,' in Proc. ICRA, 2004,pp. 659-664
4 D. Maltz, J. Brach, and D. Johnson, 'Quantitative lessons from a full-scale multi-hop wireless ad hoc network testbed,' in Proc. IEEE WCNC 2000, Sept. 2000
5 C. E. Perkins and P. Bhagwat, 'Highly dynamic destination-sequenced distance-vector routing(DSDV) for mobile computers,' in Proc. ACM SIGCOMM, Aug. 1994
6 S. R. Das, C. E. Perkins, and E. M. Royer, 'Performance comparison of two on-demand routing protocols for ad hoc networks,' in Proc. IEEE INFOCOM, Mar. 2000
7 P. Sinha, R. Sivakumar, and V. Bharghavan, 'MCEDAR: Multicast coreextraction distributed ad hoc routing,' in Proc. IEEE WCNC, Sept. 1999
8 L. Ji and S. Corson, 'Differential destination multicast - A MANET multicast routing protocol for small groups,' in Proc. IEEE INFOCOM, Apr. 2001
9 X. Zeng, R. Bagrodia, and M. Gerla, 'Glomosim: A library for parallel simulation of large-scale wireless networks,' in Proc. PADS Workshop, May 1998
10 'Activmedia robotics,' [Online]. Available: http://www.activrobots.coml
11 H. Nyugen, N. Farrington, and N. Pezeshkian, 'Maintaining communication link for tactical ground robots,' in Proc. AUVSI Unmanned Systems North America, Aug. 2004
12 J. Broch, D. A. Maltz, D. B. Johnson, Y-C. Hu, and J. Jetcheva, 'A performance comparison of multi-hop wireless ad hoc network routing protocols,' in Proc. ACM MobiCom, Oct. 1998, pp. 85-97
13 Y.-C. Hu and D. B. Johnson, 'Caching strategies in on-demand routing protocols for wireless ad hoc networks,' in Proc. ACM MobiCom, Aug. 2000
14 L. M. Feeney and M. Nilsson, 'Investigating the energy consumption of a wireless network interface in an ad hoc networking environment,' in Proc. IEEE INFOCOM, Apr. 2001
15 D. B. Johnson and D. A. Maltz, Dynamic Source Routing in Ad Hoc Wireless Networks. Kluwer Academic, 1996
16 T. Clausen, P. Jacquet, C. Adjih, A. Laouiti, P. Minet, P. Muhlethaler, A. Qayyum, and L.Viennot, 'Optimized link state routing protocol(OLSR),' RFC 3626, Oct. 2003
17 S.-J. Lee, M. Gerla, and C.-C. Chiang, 'On-demand multicast routing protocol,' in Proc. IEEE WCNC, Sept. 1999
18 H. Nyugen, N. Pezeshkian, M. Raymond, A. Gupta, and J. Spector, 'Autonomous communication relays for tactical robots,' in Proc. IEEE ICAR, July 2003
19 H. Nyugen, N. Pezeshkian, A. Gupta, and N. Farrington, 'Maintaining communication link for a robot operating in a hazardous environment,' in Proc. ANS 10th Int. Conf. Robotics and Remote Syst. for Hazardous Environments, Mar. 2004
20 C. E. Perkins and E. M. Royer, 'Ad hoc on-demand distance vector routing,' in Proc. IEEE WMCSA, Feb. 1999
21 S.-J. Lee, W. Su, and M. Gerla, 'On-demand multicast routing protocol in multihop wireless mobile networks,' MONET, vol. 7, no. 6, 2002
22 C. Gui and P. Mohapatra, 'Efficient overlay multicast for mobile ad hoc networks,' in Proc. IEEE WCNC, Mar. 2003
23 W. Su, S.-J. Lee, and M. Gerla, 'Mobility prediction and routing in ad hoc wireless networks,' Int. J. Netw. Manag., vol. 11, no. 1, pp. 3-30, 2001   DOI   ScienceOn
24 J. Luo, P. T. Eugster, and J.-P. Hubaux, 'Route driven gossip: Probabilistic reliable multicast in ad hoc networks,' in Proc. IEEE INFOCOM, Mar. 2003
25 H. Lundgren and E. Nordstrom, 'AODV implementation code (Uppsala University),' 2004, [Online]. Available: http://core.it.uu.se/AdHoc/AodvUUImpl
26 E. Royer and C. Toh, 'A review of current routing protocols for ad-hoc mobile wireless networks,' IEEE Pers. Commun., Apr. 1999
27 J. Xie, R. R. Talpade, A. Mcauley, and M. Liu, 'AMRoute: Ad hoc multicast routing protocol,' Mob. Netw. Appl., vol. 7, no. 6, pp. 429-439, 2002   DOI   ScienceOn
28 E. M. Royer and C. E. Perkins, 'Multicast operation of the ad-hoc ondemand distance vector routing protocol,' in Proc. MobiCom, Aug. 1999
29 C. Gui and P. Mohapatra, 'Scalable multicasting for mobile ad hoc networks,' in Proc. IEEE INFOCOM, Mar. 2004