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 proceedingArticle in proceedingResearchpeer-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 languageEnglish
Title of host publication2021 IEEE Wireless Communications and Networking Conference (WCNC)
Number of pages6
PublisherIEEE
Publication date29 Mar 2021
Pages1-6
Article number9417544
ISBN (Print)978-1-7281-9506-3
ISBN (Electronic)978-1-7281-9505-6
DOIs
Publication statusPublished - 29 Mar 2021
Event 2021 IEEE Wireless Communications and Networking Conference (WCNC) - Nanjing, China
Duration: 29 Mar 20211 Apr 2021

Conference

Conference 2021 IEEE Wireless Communications and Networking Conference (WCNC)
Country/TerritoryChina
CityNanjing
Period29/03/202101/04/2021
SeriesI E E E Wireless Communications and Networking Conference. Proceedings
ISSN1525-3511

Keywords

  • Distributed resource allocation
  • Swarm communication
  • Cooperative communications

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