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Resource sharing in distributed robotic systems based on a wireless medium access protocol (CSMA/CD-W)

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

Resource sharing is crucial in any multi-agent systems, a distributed robotic system (DRS) is not an exception. A new, general strategy of sharing multiple, discrete resources with predetermined capacities under the model of distributed robotic systems (DRS) is proposed. It is based upon a media access protocol, CSMA/CD-W (Carrier Sense Multiple Access with Collision Detection for Wireless), which supports wireless inter-robot communication among multiple autonomous mobile robots without using any centralized mechanism. This resource sharing strategy is derived based on the fact that with the single, time-multiplexed communication channel, asynchronous events for requesting and releasing resources are effectively serialized. It is shown that the control protocol is effective, efficient, reliable and robust

Published in:

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on  (Volume:2 )

Date of Conference:

12-16 Sep 1994