Connectivity maintenance by robotic Mobile Ad-hoc NETwork

摘要

The problem of maintaining a wireless communication link between a fixed base station and an autonomous agent by means of a team of mobile robots is addressed in this work. Such problem can be of interest for search and rescue missions in post disaster scenario where the autonomous agent can be used for remote monitoring and first hand knowledge of the aftermath, while the mobile robots can be used to provide the agent the possibility to dynamically send its collected information to an external base station. To study the problem, a distributed multi-robot system with wifi communication capabilities has been developed and used to implement a Mobile Ad-hoc NETwork (MANET) to guarantee the required multi-hop communication. None of the robots of the team possess the knowledge of agent's movement, neither they hold a pre-assigned position in the ad-hoc network but they adapt with respect to the dynamic environmental situations. This adaptation only requires the robots to have the knowledge of their position and the possibility to exchange such information with their one-hop neighbours. Robots' motion is achieved by implementing a behavioural control, namely the Null-Space based Behavioural control, embedding the collective mission to achieve the required self-configuration. Validation of the approach is performed by means of demanding experimental tests involving five ground mobile robots capable of self localization and dynamic obstacle avoidance.