Collaboration Layer for Robots in Mobile Ad-hoc Networks

Ole Borch, Per Printz Madsen, Jacob Honor´e Broberg, Søren Thorhauge Hede, Simon Bjerg Mikkelsen, Jesper Ellgaard Pedersen, Christian Br¨auner Sørensen

Research output: Contribution to journalConference article in JournalResearchpeer-review

Abstract

In many applications multiple robots in Mobile Ad-hoc Networks are required to

collaborate in order to solve a task. This paper shows by proof of concept that a Collaboration

Layer can be modelled and designed to handle the collaborative communication, which enables

robots in small to medium size networks to solve tasks collaboratively. In this proposal the

Collaboration Layer is modelled to handle service and position discovery, group management,

and synchronisation among robots, but the layer is also designed to be extendable. Based

on this model of the Collaboration Layer, generic services are provided to the application

running on the robot. The services are generic because they can be used by many different

applications, independent of the task to be solved. Likewise, specific services are requested from

the underlying Virtual Machine, such as broadcast, multicast, and reliable unicast. A prototype

of the Collaboration Layer has been developed to run in a simulated environment and tested

in an evaluation scenario. In the scenario five robots solve the tasks of vacuum cleaning and

entrance guarding, which involves the ability to discover potential co-workers, form groups, shift

from one group to another, and communicate among group members. The successful outcome

of the evaluation scenario indicates that a generic Collaboration Layer may be realisable.

Original languageEnglish
Book seriesI F A C Workshop Series
Number of pages8
ISSN1474-6670
Publication statusPublished - 2009
EventIFAC Workshop on Networked Robotics - Golden, Denver, Colorado, United States
Duration: 6 Oct 20098 Oct 2009

Conference

ConferenceIFAC Workshop on Networked Robotics
CountryUnited States
CityGolden, Denver, Colorado
Period06/10/200908/10/2009

Fingerprint

Mobile ad hoc networks
Robots
Cleaning
Synchronization
Vacuum
Communication

Keywords

  • Collaboration layer for communicationg robots

Cite this

Borch, O., Madsen, P. P., Broberg, J. H., Hede, S. T., Mikkelsen, S. B., Pedersen, J. E., & Sørensen, C. B. (2009). Collaboration Layer for Robots in Mobile Ad-hoc Networks. I F A C Workshop Series.
Borch, Ole ; Madsen, Per Printz ; Broberg, Jacob Honor´e ; Hede, Søren Thorhauge ; Mikkelsen, Simon Bjerg ; Pedersen, Jesper Ellgaard ; Sørensen, Christian Br¨auner. / Collaboration Layer for Robots in Mobile Ad-hoc Networks. In: I F A C Workshop Series. 2009.
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Borch, O, Madsen, PP, Broberg, JH, Hede, ST, Mikkelsen, SB, Pedersen, JE & Sørensen, CB 2009, 'Collaboration Layer for Robots in Mobile Ad-hoc Networks', I F A C Workshop Series.

Collaboration Layer for Robots in Mobile Ad-hoc Networks. / Borch, Ole; Madsen, Per Printz; Broberg, Jacob Honor´e; Hede, Søren Thorhauge; Mikkelsen, Simon Bjerg; Pedersen, Jesper Ellgaard; Sørensen, Christian Br¨auner.

In: I F A C Workshop Series, 2009.

Research output: Contribution to journalConference article in JournalResearchpeer-review

TY - GEN

T1 - Collaboration Layer for Robots in Mobile Ad-hoc Networks

AU - Borch, Ole

AU - Madsen, Per Printz

AU - Broberg, Jacob Honor´e

AU - Hede, Søren Thorhauge

AU - Mikkelsen, Simon Bjerg

AU - Pedersen, Jesper Ellgaard

AU - Sørensen, Christian Br¨auner

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N2 - In many applications multiple robots in Mobile Ad-hoc Networks are required tocollaborate in order to solve a task. This paper shows by proof of concept that a CollaborationLayer can be modelled and designed to handle the collaborative communication, which enablesrobots in small to medium size networks to solve tasks collaboratively. In this proposal theCollaboration Layer is modelled to handle service and position discovery, group management,and synchronisation among robots, but the layer is also designed to be extendable. Basedon this model of the Collaboration Layer, generic services are provided to the applicationrunning on the robot. The services are generic because they can be used by many differentapplications, independent of the task to be solved. Likewise, specific services are requested fromthe underlying Virtual Machine, such as broadcast, multicast, and reliable unicast. A prototypeof the Collaboration Layer has been developed to run in a simulated environment and testedin an evaluation scenario. In the scenario five robots solve the tasks of vacuum cleaning andentrance guarding, which involves the ability to discover potential co-workers, form groups, shiftfrom one group to another, and communicate among group members. The successful outcomeof the evaluation scenario indicates that a generic Collaboration Layer may be realisable.

AB - In many applications multiple robots in Mobile Ad-hoc Networks are required tocollaborate in order to solve a task. This paper shows by proof of concept that a CollaborationLayer can be modelled and designed to handle the collaborative communication, which enablesrobots in small to medium size networks to solve tasks collaboratively. In this proposal theCollaboration Layer is modelled to handle service and position discovery, group management,and synchronisation among robots, but the layer is also designed to be extendable. Basedon this model of the Collaboration Layer, generic services are provided to the applicationrunning on the robot. The services are generic because they can be used by many differentapplications, independent of the task to be solved. Likewise, specific services are requested fromthe underlying Virtual Machine, such as broadcast, multicast, and reliable unicast. A prototypeof the Collaboration Layer has been developed to run in a simulated environment and testedin an evaluation scenario. In the scenario five robots solve the tasks of vacuum cleaning andentrance guarding, which involves the ability to discover potential co-workers, form groups, shiftfrom one group to another, and communicate among group members. The successful outcomeof the evaluation scenario indicates that a generic Collaboration Layer may be realisable.

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Borch O, Madsen PP, Broberg JH, Hede ST, Mikkelsen SB, Pedersen JE et al. Collaboration Layer for Robots in Mobile Ad-hoc Networks. I F A C Workshop Series. 2009.