File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Article: Connectivity and bandwidth-aware real-time exploration in mobile robot networks

TitleConnectivity and bandwidth-aware real-time exploration in mobile robot networks
Authors
Keywordsbottleneck assignment
Steiner minimum tree
relay node placement
real-time exploration
mobile robot networks
bandwidth
Issue Date2013
Citation
Wireless Communications and Mobile Computing, 2013, v. 13, n. 9, p. 847-863 How to Cite?
AbstractAlthough there has been substantial progress for multi-robot exploration of an unknown area, little attention has been given to communication, especially bandwidth constraints in time-sensitive and bandwidth-consuming tasks such as search and surveillance. In such tasks, video/audio streams of a newly explored area should be sent back to the base station in a timely manner. To address this issue, we propose connectivity and bandwidth-aware exploration (CBAX), which is an efficient iteration based real-time exploration. CBAX divides the problem into frontier node placement, relay node placement with routing path selection, and matching of each robot with its target position. Moreover, we model bandwidth-constrained relay node placement into a new variant of the Steiner minimum tree problem and present our solution. While reducing the exploration time, CBAX maintains the network's connectivity and ensures the aggregated data flows are under the link capacity in transmission. Simulation shows that CBAX outperforms two recent exploration schemes qualitatively by demonstrating major improvement in terms of non-overflow transmission time and fully connected transmission time. With enhanced communication quality, CBAX still reduces the exploration time, on average, by 40% and 15%, respectively. In moderately dense scenarios, CBAX even decreases time by 50% and 25%. Copyright © 2011 John Wiley & Sons, Ltd.
Persistent Identifierhttp://hdl.handle.net/10722/213313
ISSN
2015 Impact Factor: 0.922
2015 SCImago Journal Rankings: 0.421

 

DC FieldValueLanguage
dc.contributor.authorPei, Yuanteng-
dc.contributor.authorMutka, Matt W.-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:06:51Z-
dc.date.available2015-07-28T04:06:51Z-
dc.date.issued2013-
dc.identifier.citationWireless Communications and Mobile Computing, 2013, v. 13, n. 9, p. 847-863-
dc.identifier.issn1530-8669-
dc.identifier.urihttp://hdl.handle.net/10722/213313-
dc.description.abstractAlthough there has been substantial progress for multi-robot exploration of an unknown area, little attention has been given to communication, especially bandwidth constraints in time-sensitive and bandwidth-consuming tasks such as search and surveillance. In such tasks, video/audio streams of a newly explored area should be sent back to the base station in a timely manner. To address this issue, we propose connectivity and bandwidth-aware exploration (CBAX), which is an efficient iteration based real-time exploration. CBAX divides the problem into frontier node placement, relay node placement with routing path selection, and matching of each robot with its target position. Moreover, we model bandwidth-constrained relay node placement into a new variant of the Steiner minimum tree problem and present our solution. While reducing the exploration time, CBAX maintains the network's connectivity and ensures the aggregated data flows are under the link capacity in transmission. Simulation shows that CBAX outperforms two recent exploration schemes qualitatively by demonstrating major improvement in terms of non-overflow transmission time and fully connected transmission time. With enhanced communication quality, CBAX still reduces the exploration time, on average, by 40% and 15%, respectively. In moderately dense scenarios, CBAX even decreases time by 50% and 25%. Copyright © 2011 John Wiley & Sons, Ltd.-
dc.languageeng-
dc.relation.ispartofWireless Communications and Mobile Computing-
dc.subjectbottleneck assignment-
dc.subjectSteiner minimum tree-
dc.subjectrelay node placement-
dc.subjectreal-time exploration-
dc.subjectmobile robot networks-
dc.subjectbandwidth-
dc.titleConnectivity and bandwidth-aware real-time exploration in mobile robot networks-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1002/wcm.1145-
dc.identifier.scopuseid_2-s2.0-84878683050-
dc.identifier.volume13-
dc.identifier.issue9-
dc.identifier.spage847-
dc.identifier.epage863-
dc.identifier.eissn1530-8677-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats