Cooperative Resource Allocation for Proximity Communication in Robotic Swarms in an Indoor Factory

Santiago Morejon, Rasmus Bruun, Troels Bundgaard Sørensen, Nuno Kiilerich Pratas, Tatiana Kozlova Madsen, Ji Lianghai, Preben E. Mogensen

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

3 Citationer (Scopus)
19 Downloads (Pure)

Abstrakt

Robotic swarms are becoming relevant across different industries. In an indoor factory, collective perception of the environment can be used for increased factory automatization. It requires reliable, high throughput and low latency communication of broadcasted video data among robots within proximity.
We introduce two new decentralized resource allocation schemes that meet these stringent requirements. The two proposed decentralized schemes are denoted as: (i) device sequential, where robots take turns to allocate resources, and (ii) group scheduling, where robots select local group leaders who perform the resource allocation. A comparative evaluation is performed by simulation against a centralized resource allocation scheme and the current 3GPP release 16 NR sidelink mode 2 scheme.
Our results show that the two proposed decentralized resource allocation schemes outperform sidelink mode 2 due to the mitigation of the half-duplex problem. The proposed schemes reach the throughput target of 10 Mbps with a reliability of 99.99% for a swarm size of 50 robots.
OriginalsprogEngelsk
Titel2021 IEEE Wireless Communications and Networking Conference (WCNC)
Antal sider6
ForlagIEEE
Publikationsdato29 mar. 2021
Sider1-6
Artikelnummer9417544
ISBN (Trykt)978-1-7281-9506-3
ISBN (Elektronisk)978-1-7281-9505-6
DOI
StatusUdgivet - 29 mar. 2021
Begivenhed 2021 IEEE Wireless Communications and Networking Conference (WCNC) - Nanjing, Kina
Varighed: 29 mar. 20211 apr. 2021

Konference

Konference 2021 IEEE Wireless Communications and Networking Conference (WCNC)
Land/OmrådeKina
ByNanjing
Periode29/03/202101/04/2021
NavnI E E E Wireless Communications and Networking Conference. Proceedings
ISSN1525-3511

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