{"title":"水下机器人群的仿生TDMA调度算法","authors":"Donny K. Sutantyo, P. Levi","doi":"10.1109/ROBIO.2013.6739612","DOIUrl":null,"url":null,"abstract":"In this paper, the frog-call-inspired anti-phase synchronization algorithm is investigated and applied to allocate communication time slots among robotic swarms. The main goal of the work is to solve interference and jamming problems which becomes vital in swarm robot communication and sensing, especially in underwater application. A novel distributed model of this biologically-inspired approach is investigated to improve scalability and enable decentralization of the algorithm. It is proven from the simulated experiment that the model can be applied for scheduling underwater swarm communication within a limited local communication range, however with an acceptable amount (less than 5%) of packet loss. In the end, a real robot experiment using underwater swarm robot platforms is also presented.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"A bio-inspired TDMA scheduling algorithm for underwater robotic swarms\",\"authors\":\"Donny K. Sutantyo, P. Levi\",\"doi\":\"10.1109/ROBIO.2013.6739612\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, the frog-call-inspired anti-phase synchronization algorithm is investigated and applied to allocate communication time slots among robotic swarms. The main goal of the work is to solve interference and jamming problems which becomes vital in swarm robot communication and sensing, especially in underwater application. A novel distributed model of this biologically-inspired approach is investigated to improve scalability and enable decentralization of the algorithm. It is proven from the simulated experiment that the model can be applied for scheduling underwater swarm communication within a limited local communication range, however with an acceptable amount (less than 5%) of packet loss. In the end, a real robot experiment using underwater swarm robot platforms is also presented.\",\"PeriodicalId\":434960,\"journal\":{\"name\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2013.6739612\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739612","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A bio-inspired TDMA scheduling algorithm for underwater robotic swarms
In this paper, the frog-call-inspired anti-phase synchronization algorithm is investigated and applied to allocate communication time slots among robotic swarms. The main goal of the work is to solve interference and jamming problems which becomes vital in swarm robot communication and sensing, especially in underwater application. A novel distributed model of this biologically-inspired approach is investigated to improve scalability and enable decentralization of the algorithm. It is proven from the simulated experiment that the model can be applied for scheduling underwater swarm communication within a limited local communication range, however with an acceptable amount (less than 5%) of packet loss. In the end, a real robot experiment using underwater swarm robot platforms is also presented.