Abstract—We present and evaluate new ROS packages for
coordinated multi-robot exploration, namely communication,
global map construction, and exploration. The packages allow
completely distributed control and do not rely on (but allow)
central controllers. Their integration including application layer
protocols allows out of the box installation and execution. The
communication package enables reliable ad hoc communication
allowing to exchange local maps between robots which are
merged to a global map. Exploration uses the global map
to spatially spread robots and decrease exploration time. The
intention of the implementation is to offer basic functionality for
coordinated multi-robot systems and to enable other research
groups to experimentally work on multi-robot systems. The
packages are tested in real-world experiments using Turtlebot
and Pioneer robots. Further, we analyze their performance using
simulations and verify their correct working.
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Abstract—We present and evaluate new ROS packages for
coordinated multi-robot exploration, namely communication,
global map construction, and exploration. The packages allow
completely distributed control and do not rely on (but allow)
central controllers. Their integration including application layer
protocols allows out of the box installation and execution. The
communication package enables reliable ad hoc communication
allowing to exchange local maps between robots which are
merged to a global map. Exploration uses the global map
to spatially spread robots and decrease exploration time. The
intention of the implementation is to offer basic functionality for
coordinated multi-robot systems and to enable other research
groups to experimentally work on multi-robot systems. The
packages are tested in real-world experiments using Turtlebot
and Pioneer robots. Further, we analyze their performance using
simulations and verify their correct working.
Firefly Clock Synchronization in an 802.15.4 Wireless Network
Publications on self-organizing networked systems
11 years ago
Firefly Clock Synchronization in an 802.15.4 Wireless Network
This paper describes the design and implementation of a distributed self-stabilizing clock synchronization algorithm based on the biological example of Asian Fireflies. Huge swarms of these fireflies use the principle of pulse coupled oscillators in order to synchronously emit light flashes to attract mating partners. When applying this algorithm to real sensor networks, typically, nodes cannot receive messages while transmitting, which prevents the networked nodes from reaching synchronization. In order to counteract this deafness problem, we adopt a variant of the Reachback Firefly Algorithm to distribute the timing of light flashes in a given time window without affecting the quality of the synchronization. A case study implemented on 802.15.4 Zigbee nodes
presents the application of this approach for a time-triggered communication scheduling and coordinated duty cycling in order to enhance the battery lifetime of the nodes.
Publications on self-organizing networked systems
Abstract—We present and evaluate new ROS packages for
coordinated multi-robot exploration, namely communication,
global map construction, and exploration. The packages allow
completely distributed control and do not rely on (but allow)
central controllers. Their integration including application layer
protocols allows out of the box installation and execution. The
communication package enables reliable ad hoc communication
allowing to exchange local maps between robots which are
merged to a global map. Exploration uses the global map
to spatially spread robots and decrease exploration time. The
intention of the implementation is to offer basic functionality for
coordinated multi-robot systems and to enable other research
groups to experimentally work on multi-robot systems. The
packages are tested in real-world experiments using Turtlebot
and Pioneer robots. Further, we analyze their performance using
simulations and verify their correct working.
