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On sign-board based inter-robot communication in distributed robotic systems

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1 Author(s)
Jing Wang ; Coll. of Eng., California Univ., Riverside, CA, USA

Inter-robot communication based on the conceptual mechanism of “sign-board” in distributed robotic systems (DRS) is discussed. Equipped by each robot, a sign-board can be written only by the robot that carries it, and be read by robots in the neighborhood. Consistent with DRS principles, the sign-board model is not supported by any centralized mechanism, and is considered a natural way of interaction among autonomous robotic units. It is shown that along with message passing, the sign-board model is one of the two important mechanisms for inter-robot communication. Previous research on DRS algorithms employing the sign-board model assume zero signal propagation delay. These algorithms may fail if non-zero propagation delay is taken into account. A simple fix for these algorithms exists if the propagation delay is bounded. Implementation strategies for the conceptual sign-board are also discussed

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994

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