Reducing Communication Delay Variability for a Group of Robots

<p>A novel architecture is presented for reducing communication delay variability for a group of robots. This architecture relies on using three components: a microprocessor architecture that allows deterministic real-time tasks; an event-based communication protocol in which nodes transmit in a TDMA fashion, without the need of global clock synchronization techniques; and a novel communication scheme that enables deterministic communications by allowing senders to transmit without regard for the state of the medium or coordination with other senders, and receivers can tease apart messages sent simultaneously with a high probability of success. This approach compared to others, allows simultaneous communications without regard for the state of the transmission medium, it allows deterministic communications, and it enables ordered communications that can be a applied in a team of robots. Simulations and experimental results are also included.</p>

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Year dc:date.available

2013

Author dc:creator

• Martins, Goncalo

Contributors dc:contributor

• Kimon P. Valavanis, Ph.D.
• Matthew J. Rutherford, Ph.D.
• Rita Ribeiro
• Robert Whitman
• Alvaro Arias

• Communication delay variability
• Robot communication
• Robots
• Artificial Intelligence and Robotics
• Computer Engineering
• Robotics

Statement dc:rights

• <p>Copyright is held by the author. User is responsible for all copyright compliance.</p>

Language dc:language

en

Repository record dc:identifier

https://digitalcommons.du.edu/etd/400

OAI identifier oai:identifier

oai:digitalcommons.du.edu:etd-1399