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Robot Networking

Robot Networking. Greg McChesney Texas Tech University Greg.mcchesney@ttu . edu. A networked robot?. Project Description. Create a communication layer for the robots to interact with each other Communication layer will handle noise and lag

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Robot Networking

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  1. Robot Networking Greg McChesney Texas Tech University Greg.mcchesney@ttu.edu CS5331: Autonomous Mobile Robots

  2. A networked robot? CS5331: Autonomous Mobile Robots

  3. Project Description • Create a communication layer for the robots to interact with each other • Communication layer will handle noise and lag • Utilize communication layer to share information and select team roles CS5331: Autonomous Mobile Robots

  4. Expected results • Communication layer • Team selection algorithm • Both items should be close to real time • API to communication layer so other modules can pass data. CS5331: Autonomous Mobile Robots

  5. Communication Layer • Robot Discovery • Leader Selection • Role Assignment/Leader directed communication • Model Updates • Guaranteed (TCP) and nonguaranteed (Multicasting) CS5331: Autonomous Mobile Robots

  6. Discovery David Matt Alice CS5331: Autonomous Mobile Robots

  7. David Matt Alice CS5331: Autonomous Mobile Robots

  8. David Matt Alice CS5331: Autonomous Mobile Robots

  9. Leader Selection David Matt Alice CS5331: Autonomous Mobile Robots

  10. Role Assignment David Matt Alice CS5331: Autonomous Mobile Robots

  11. Model Updates David Matt Alice CS5331: Autonomous Mobile Robots

  12. Experimental Setup • Creating Java interface which will allow for sending and receiving data. • The underlying class handles all communication • Testing using multiple “robots” on various hosts CS5331: Autonomous Mobile Robots

  13. Current Status • Robot Discovery • Agents automatically find each other • Threaded Input and Output • Allows for simultaneous sending and receiving • Threads sleep when not in use to prevent CPU hogging • Team Leader Selection CS5331: Autonomous Mobile Robots

  14. Areas still being researched • Role Assignment • Create messages to notify robot of its new mission • Model Sharing • Share data about the world without bringing down the network • API • So other applications can share too. CS5331: Autonomous Mobile Robots

  15. Conclusions • Communication layer will provide easy method for inter-robot communication • Provides guaranteed and nonguaranteed communication options. • Built-in network control, to prevent overloading the network CS5331: Autonomous Mobile Robots

  16. Future Work • Improve leader selection algorithm • Add backup leader, to provide redundancy • Offload model, built API for model updating CS5331: Autonomous Mobile Robots

  17. Questions? CS5331: Autonomous Mobile Robots

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