Analysis of Communication Delay and Packet Loss During Localization Among Mobile Robots
01 Jan 2016-pp 3-12
TL;DR: An algorithm has been developed to compensate this packet loss during communication between controller and server in a wifi-based robotics environment and simulation results prove that the algorithm developed is efficient compared to single mode observers, for both unknown and uncertain environments among multi robots.
Abstract: Wheeled mobile robots moving in an unknown environment are made to face many obstacles while navigating in a planned or unplanned trajectory to reach their destination. But, no information is available regarding the failure of a leader robot of a group in both unknown and uncertain environments and the subsequent course of action by the follower robots. As the leader fails, one of the follower robots within the group can be assigned as a new leader so as to accomplish the planned trajectory. The present experimental work is carried out by a team of robot comprises of a leader robot and three follower robots and if the present leader fails, a new leader is selected from the group using leader follower approach. But, the problem of localization among multi mobile robots is subjected to communication delay and packet loss. The problem of data loss is analyzed and shows that it can be modeled as a feedback system with dual mode observers. An algorithm has been developed to compensate this packet loss during communication between controller and server in a wifi-based robotics environment. Further, the simulation results prove that the algorithm developed is efficient compared to single mode observers, for both unknown and uncertain environments among multi robots.
Citations
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TL;DR: In this paper , a leader-follower approach using linear quadratic regulator control was proposed to improve the performance of nonholonomic automated guided vehicles in the presence of packet loss, where a long short-term memory neural network was used to predict the position of the leader by the followers.
Abstract: This paper presents the formation tracking problem for non-holonomic automated guided vehicles. Specifically, we focus on a decentralized leader–follower approach using linear quadratic regulator control. We study the impact of communication packet loss—containing the position of the leader—on the performance of the presented formation control scheme. The simulation results indicate that packet loss degrades the formation control performance. In order to improve the control performance under packet loss, we propose the use of a long short-term memory neural network to predict the position of the leader by the followers in the event of packet loss. The proposed scheme is compared with two other prediction methods, namely, memory consensus protocol and gated recurrent unit. The simulation results demonstrate the efficiency of the long short-term memory in packet loss compensation in comparison with memory consensus protocol and gated recurrent unit.
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References
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01 May 2007
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Abstract: Robots are rapidly evolving from factory work-horses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a way that is comprehensible to humans. The work presented here is oriented in this direction. It suggests a hierarchical probabilistic representation of space that is based on objects. A global topological representation of places with object graphs serving as local maps is proposed. The work also details the first efforts towards conceptualizing space on the basis of the human compatible representation so formed. Such a representation and the resulting conceptualization would be useful for enabling robots to be cognizant of their surroundings. Experiments on place classification and place recognition are reported in order to demonstrate the applicability of such a representation towards understanding space and thereby performing spatial cognition. Further, relevant results from user studies validating the proposed representation are also reported. Thus, the theme of the work is - representation for spatial cognition.
262 citations
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