Abstract
A communication media access protocol, CSMA/CD-W (Carrier Sense Multiple Access with Collision Detection for Wireless) is proposed to support both broadcasting and point-to-point communication in mobile robot based Distributed Robotic Systems (DRS). Differing from many existing experimental systems based on off-the-shelf wireless communication products for computers, no centralized mechanism or “ground support” is used, which is consistent with basic principles of DRS. The proposed protocol supports wireless data communication among mobile robots on a shared communication channel. It distincts itself from CSMA and its variations with the capability of detecting, in a wireless network, collisions of broadcast (undesignated) messages for which acknowledgments are not expected.
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