CSMA/CD with reservations in wireless communication: A novel approach to resolve collisions

This paper proposes a medium access protocol, CSMA/CD-R (carrier sense multiple access/collision detection with reservation), designed for wireless network mobile robots under a distributed robot system without any centralized mechanism. It employs stations to reserve a communication channel after communication collision such that it shows better performance than conventional CSMA protocol for the wireless communication of the distributed robot system. The effectiveness and applicability of the proposed protocol are demonstrated by carrying out computer simulations and real experiments with the robot soccer system.