Multi-Robot Systems: Extending RoboCup Small-Size Architecture with Local Vision and Ad-Hoc Networking

In this paper we describe preliminary results from a collaborative effort between ITAM's Robotics Lab and UCSC's Internetworking Research Group (i-NRG) focusing on extending the Small-Size League RoboCup system architecture. More specifically, our goal is to enable multi-robot collaboration beyond the limits of a soccer field environment. To this end, we have been developing a local vision wireless ad-hoc network architecture that will make it possible for robots to cooperate in carrying out tasks such as disaster recovery and emergency response. We present results from initial robot experimentation using ad-hoc networking while discussing future work