Optimal Robust Multihop Routing for Wireless Networks of Mobile Micro Autonomous Systems

Loading...
Thumbnail Image
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Degree type
Discipline
Subject
GRASP
Electrical and Computer Engineering
Engineering
Funder
Grant number
License
Copyright date
Distributor
Related resources
Contributor
Abstract

This paper develops algorithms to ensure that agents of a mobile micro autonomous system (MMAS) maintain integrity of communication flows as they move to accomplish their task. Due to inherent uncertainties in estimation of wireless channels, we advocate a stochastic approach whereby achievable communication rates of point-to-point links are regarded as random variables with known means and variances. To achieve reliable end-to-end communication flows, terminals route their traffic through various alternative paths to reduce the effect of uncertainty in individual link rates. The proposed algorithms are optimal and robust in that routes are obtained as solutions of optimization problems subject to constraints on minimum required rates and maximum acceptable variances. Algorithms are tested in an event-based simulator that uses an accurate data-driven model of radio communications to model both the structure of code running independently on multiple robots as well as the transmission of messages via a real radio. Simulation results corroborate that rates of end-to-end flows are maintained at target levels despite variations in the rates of individual links.

Advisor
Date of presentation
2010-10-31
Conference name
Departmental Papers (ESE)
Conference dates
2023-05-17T05:53:55.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Journal Issue
Comments
Suggested Citation: J. Fink, A. Ribeiro, V. Kumar and B.M. Sadler. (2010). "Optimal Robust Multihop Routing for Wireless Networks of Mobile Micro Autonomous Systems." The 2010 Military Communications Conference. San Jose, CA. October 31 - November 3, 2010. ©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Recommended citation
Collection