A SPIN-Based Dynamic TDMA Communication for a UWB-Based Infrastructure-Free Cooperative Navigation

This letter presents a negotiation-based dynamic time division multiple access (DTDMA) medium access control (MAC) protocol for ultrawideband (UWB) communication via DWM1000 transceivers for an infrastructure-free cooperative navigation (CN) system. The DTDMA scheme is used to avoid packet collision by dividing the channel access into different time slots and dynamically changing the time schedule, such that the time schedule of the agents accommodates the change of the network topology because of the agents' mobility. The negotiation-based rescheduling method motivated by the sensor protocols information via negotiation protocol is used to schedule CN updates selectively to reduce the communication cost while maintaining an acceptable level of localization performance. We demonstrate the effectiveness of our proposed communication protocol via experiments and complexity analysis.