Route Swarm: Wireless Network Optimization through Mobility

In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE), consists of a Physical Control Plane (PCP) which commands agent position, and an Information Control Plane (ICP) which regulates information flow towards communication/sensing objectives. We describe an instantiation where a mobile robotic network is dynamically reconfigured to ensure high quality routes between static wireless nodes, which act as source/destination pairs for information flow. The ICP commands the robots towards evenly distributed inter-flow allocations, with intra-flow configurations that maximize route quality. The PCP then guides the robots via potential-based control to reconfigure according to ICP commands. This formulation, deemed Route Swarm, decouples information flow and physical control, generating a feedback between routing and sensing needs and robotic configuration. We demonstrate our propositions through simulation under a realistic wireless network regime.Comment: 9 pages, 4 figures, submitted to the IEEE International Conference on Intelligent Robots and Systems (IROS) 201

Target Assignment in Robotic Networks: Distance Optimality Guarantees and Hierarchical Strategies

We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient condition under which true distance optimality can be achieved for robots with limited communication and target-sensing ranges. Moreover, we provide an explicit, non-asymptotic formula for computing the number of robots needed to achieve distance optimality in terms of the robots' communication and target-sensing ranges with arbitrary guaranteed probabilities. The same bounds are also shown to be asymptotically tight. In the second half of the paper, we present suboptimal strategies for use when the number of robots cannot be chosen freely. Assuming first that all targets are known to all robots, we employ a hierarchical communication model in which robots communicate only with other robots in the same partitioned region. This hierarchical communication model leads to constant approximations of true distance-optimal solutions under mild assumptions. We then revisit the limited communication and sensing models. By combining simple rendezvous-based strategies with a hierarchical communication model, we obtain decentralized hierarchical strategies that achieve constant approximation ratios with respect to true distance optimality. Results of simulation show that the approximation ratio is as low as 1.4

Airborne chemical sensing with mobile robots

Airborne chemical sensing with mobile robots has been an active research areasince the beginning of the 1990s. This article presents a review of research work in this field,including gas distribution mapping, trail guidance, and the different subtasks of gas sourcelocalisation. Due to the difficulty of modelling gas distribution in a real world environmentwith currently available simulation techniques, we focus largely on experimental work and donot consider publications that are purely based on simulations