Development of a Wireless Communication System for a Distributed Autonomous Robotic System.

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  • 自律分散型ロボットシステムのための無線通信システムの開発
  • ジリツ ブンサンガタ ロボット システム ノ タメ ノ ムセン ツウシン シス

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Abstract

In this paper, authors discuss about development of a wireless communication system for a distributed autonomous robotic system, which is composed of various types of multiple agents. In order to achieve cooperative behavior among multiple agents including mobile robots, it is required to enable performance of communication with flexibility, reliability and interoperability. Based on these requirements, a wireless communication system based on the Carrier Sense Multiple Access (CSMA) have been designed and developed by using wireless MODEM's. A hierarchical architecture is adopted for consistency and for interoperability. This communication system is applied to a prototype system consisting of actual mobile robots and a workstation. In this paper, it is shown experimental results of inter-communication by using the prototype system. Authors have proved above performance required in the wireless communication system.

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