Abstract
This paper describes a communications and control infrastructure for distributed mobile robotics, which makes use of wireless local area network (WLAN) technology and Internet Protocols (IPs). The use of commercial off-the-shelf (COTS) hardware and software components, and protocols, results in a powerful platform for conducting experiments into collective or co-operative robotics. Standard Transmission Control Protocol/Internet Protocol (TCP/IP) compatible applications programming interfaces (APIs) allow for rapid and straightforward development of applications software. Further, the message bandwidth available from WLAN interfaces (1–2 Mbits/s) facilitates multi-robot experiments requiring high data rates, for instance in robot vision or navigation. The infrastructure described is equally applicable to tele-operated mobile robots.
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