Abstract
Over the past few years, decentralization of multi-agent robotic systems has become an important research area. These systems do not depend on a central control unit, which enables the control and assignment of distributed, asynchronous and robust tasks. However, in some cases, the network communication process between robotic agents is overlooked, and this creates a dependency for each agent to maintain a permanent link with nearby units to be able to fulfill its goals. This article describes a communication framework, where each agent in the system can leave the network or accept new connections, sending its information based on the transfer history of all nodes in the network. To this end, each agent needs to comply with four processes to participate in the system, plus a fifth process for data transfer to the nearest nodes that is based on Received Signal Strength Indicator (RSSI) and data history. To validate this framework, we use differential robotic agents and a monitoring agent to generate a topological map of an environment with the presence of obstacles.
Highlights
Single robots are made to solve problems over a unique domain, preventing the expansion of their use beyond its original purpose
This paper presents a framework for communication between multiple agents that eliminates the requirement of having a permanent link between robotic agents, based on the model presented in our previous works [20], improving the functionality by removing the time dependency to share the information between the agents, and enabling the connection of external units as backup, either for monitoring or to complete the assigned task in a decentralized manner by using ad hoc networks
This framework is evaluated in a non-convex environment that includes discontinuities in the form of obstacles, using differential mobile robotic agents to independently generate a topological map through odometry, which they share using the framework to complete the map in a decentralized way
Summary
Single robots are made to solve problems over a unique domain, preventing the expansion of their use beyond its original purpose. This paper presents a framework for communication between multiple agents that eliminates the requirement of having a permanent link between robotic agents, based on the model presented in our previous works [20], improving the functionality by removing the time dependency to share the information between the agents, and enabling the connection of external units as backup, either for monitoring or to complete the assigned task in a decentralized manner by using ad hoc networks This framework is evaluated in a non-convex environment that includes discontinuities in the form of obstacles (walls), using differential mobile robotic agents to independently generate a topological map through odometry, which they share using the framework to complete the map in a decentralized way.
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