Inter-robot communication and its implementation in a PDA-based teleoperation of multiple mobile robots

A motivation for investigating multi-robot communication is that it enables teams of robots to maximize their utility. The coordination of a team of robots would be impossible without communications. Hence, communication is one of the key infrastructures to have a robot team. Moreover, advancement o...

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Main Author: Djong, Januardy
Other Authors: Seet Gim Lee, Gerald
Format: Final Year Project
Language:English
Published: 2010
Subjects:
Online Access:http://hdl.handle.net/10356/40853
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-408532023-03-04T19:16:37Z Inter-robot communication and its implementation in a PDA-based teleoperation of multiple mobile robots Djong, Januardy Seet Gim Lee, Gerald Sim Siang Kok School of Mechanical and Aerospace Engineering Robotics Research Centre DRNTU::Engineering::Mechanical engineering::Robots A motivation for investigating multi-robot communication is that it enables teams of robots to maximize their utility. The coordination of a team of robots would be impossible without communications. Hence, communication is one of the key infrastructures to have a robot team. Moreover, advancement of wireless technology has enabled development of telerobotics and wireless communication system. Integrating these two technologies, it is possible to achieve a cooperative robot team teleoperated by human supervisor to accomplish a human – robot team collaboration in performing numerous tasks. Previous development has successfully deployed multiple mobile robots teleoperated by a PDA. The system, however, lacks the communication feature to enable robot cooperation. Two problems are addressed during development of communication feature. The first is communication protocol, which consists of transport and message content layer. The transport layers provide a channel between sender and receiver over which information are exchanged. The content layers build the format of the information being communicated. The second problem is the communication architecture. Centralized architecture whereby all communication occur flow through a central server agent is being chosen. The centralized architecture is preferred in this stage of research since supervision by human operator is considerably easier than an opposite peer-to-peer configuration where communication does not flow through central agent. A preliminary study to observe the performance of communication and broadcasting with various types of data was successfully conducted. Bachelor of Engineering (Mechanical Engineering) 2010-06-23T01:14:18Z 2010-06-23T01:14:18Z 2010 2010 Final Year Project (FYP) http://hdl.handle.net/10356/40853 en Nanyang Technological University 105 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Mechanical engineering::Robots
spellingShingle DRNTU::Engineering::Mechanical engineering::Robots
Djong, Januardy
Inter-robot communication and its implementation in a PDA-based teleoperation of multiple mobile robots
description A motivation for investigating multi-robot communication is that it enables teams of robots to maximize their utility. The coordination of a team of robots would be impossible without communications. Hence, communication is one of the key infrastructures to have a robot team. Moreover, advancement of wireless technology has enabled development of telerobotics and wireless communication system. Integrating these two technologies, it is possible to achieve a cooperative robot team teleoperated by human supervisor to accomplish a human – robot team collaboration in performing numerous tasks. Previous development has successfully deployed multiple mobile robots teleoperated by a PDA. The system, however, lacks the communication feature to enable robot cooperation. Two problems are addressed during development of communication feature. The first is communication protocol, which consists of transport and message content layer. The transport layers provide a channel between sender and receiver over which information are exchanged. The content layers build the format of the information being communicated. The second problem is the communication architecture. Centralized architecture whereby all communication occur flow through a central server agent is being chosen. The centralized architecture is preferred in this stage of research since supervision by human operator is considerably easier than an opposite peer-to-peer configuration where communication does not flow through central agent. A preliminary study to observe the performance of communication and broadcasting with various types of data was successfully conducted.
author2 Seet Gim Lee, Gerald
author_facet Seet Gim Lee, Gerald
Djong, Januardy
format Final Year Project
author Djong, Januardy
author_sort Djong, Januardy
title Inter-robot communication and its implementation in a PDA-based teleoperation of multiple mobile robots
title_short Inter-robot communication and its implementation in a PDA-based teleoperation of multiple mobile robots
title_full Inter-robot communication and its implementation in a PDA-based teleoperation of multiple mobile robots
title_fullStr Inter-robot communication and its implementation in a PDA-based teleoperation of multiple mobile robots
title_full_unstemmed Inter-robot communication and its implementation in a PDA-based teleoperation of multiple mobile robots
title_sort inter-robot communication and its implementation in a pda-based teleoperation of multiple mobile robots
publishDate 2010
url http://hdl.handle.net/10356/40853
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