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

doi:10.1109/WCNC49053.2021.9417544

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

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

3 Citations (Scopus)

20 Downloads (Pure)

Abstract

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.

Original language	English
Title of host publication	2021 IEEE Wireless Communications and Networking Conference (WCNC)
Number of pages	6
Publisher	IEEE
Publication date	29 Mar 2021
Pages	1-6
Article number	9417544
ISBN (Print)	978-1-7281-9506-3
ISBN (Electronic)	978-1-7281-9505-6
DOIs	https://doi.org/10.1109/WCNC49053.2021.9417544
Publication status	Published - 29 Mar 2021
Event	2021 IEEE Wireless Communications and Networking Conference (WCNC) - Nanjing, China Duration: 29 Mar 2021 → 1 Apr 2021

Conference

Conference	2021 IEEE Wireless Communications and Networking Conference (WCNC)
Country/Territory	China
City	Nanjing
Period	29/03/2021 → 01/04/2021

Series	I E E E Wireless Communications and Networking Conference. Proceedings
ISSN	1525-3511

Keywords

Distributed resource allocation
Swarm communication
Cooperative communications

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10.1109/WCNC49053.2021.9417544

Cooperative Resource Allocation for Proximity Communication in Robotic Swarms in an Indoor FactoryAccepted author manuscript, 530 KB

Cite this

Morejon, S., Bruun, R., Sørensen, T. B., Kiilerich Pratas, N., Madsen, T. K., Lianghai, J., & E. Mogensen, P. (2021). Cooperative Resource Allocation for Proximity Communication in Robotic Swarms in an Indoor Factory. In 2021 IEEE Wireless Communications and Networking Conference (WCNC) (pp. 1-6). [9417544] IEEE. I E E E Wireless Communications and Networking Conference. Proceedings https://doi.org/10.1109/WCNC49053.2021.9417544

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title = "Cooperative Resource Allocation for Proximity Communication in Robotic Swarms in an Indoor Factory",

abstract = "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.",

keywords = "Distributed resource allocation, Swarm communication, Cooperative communications",

author = "Santiago Morejon and Rasmus Bruun and S{\o}rensen, {Troels Bundgaard} and {Kiilerich Pratas}, Nuno and Madsen, {Tatiana Kozlova} and Ji Lianghai and {E. Mogensen}, Preben",

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Morejon, S, Bruun, R, Sørensen, TB, Kiilerich Pratas, N, Madsen, TK, Lianghai, J & E. Mogensen, P 2021, Cooperative Resource Allocation for Proximity Communication in Robotic Swarms in an Indoor Factory. in 2021 IEEE Wireless Communications and Networking Conference (WCNC)., 9417544, IEEE, I E E E Wireless Communications and Networking Conference. Proceedings, pp. 1-6, 2021 IEEE Wireless Communications and Networking Conference (WCNC), Nanjing, China, 29/03/2021. https://doi.org/10.1109/WCNC49053.2021.9417544

Cooperative Resource Allocation for Proximity Communication in Robotic Swarms in an Indoor Factory. / Morejon, Santiago; Bruun, Rasmus; Sørensen, Troels Bundgaard et al.

2021 IEEE Wireless Communications and Networking Conference (WCNC). IEEE, 2021. p. 1-6 9417544 (I E E E Wireless Communications and Networking Conference. Proceedings).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

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T1 - Cooperative Resource Allocation for Proximity Communication in Robotic Swarms in an Indoor Factory

AU - Morejon, Santiago

AU - Bruun, Rasmus

AU - Sørensen, Troels Bundgaard

AU - Kiilerich Pratas, Nuno

AU - Madsen, Tatiana Kozlova

AU - Lianghai, Ji

AU - E. Mogensen, Preben

PY - 2021/3/29

Y1 - 2021/3/29

N2 - 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.

AB - 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.

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KW - Swarm communication

KW - Cooperative communications

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M3 - Article in proceeding

SN - 978-1-7281-9506-3

T3 - I E E E Wireless Communications and Networking Conference. Proceedings

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EP - 6

BT - 2021 IEEE Wireless Communications and Networking Conference (WCNC)

PB - IEEE

T2 - 2021 IEEE Wireless Communications and Networking Conference (WCNC)

Y2 - 29 March 2021 through 1 April 2021

ER -

Morejon S, Bruun R, Sørensen TB, Kiilerich Pratas N, Madsen TK, Lianghai J et al. Cooperative Resource Allocation for Proximity Communication in Robotic Swarms in an Indoor Factory. In 2021 IEEE Wireless Communications and Networking Conference (WCNC). IEEE. 2021. p. 1-6. 9417544. (I E E E Wireless Communications and Networking Conference. Proceedings). https://doi.org/10.1109/WCNC49053.2021.9417544

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

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