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Title:
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PERFORMANCE ANALYSIS OF RANDOM PEER - TO - PEER COMMUNICATION FOR A MULTIPLE-ROBOT SYSTEM
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Author:
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Amit Agrawal , Dr. JM Keller , Dr. RK Dave
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Keywords:
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Robotics, Peer to Peer system, Implicit Communication.
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Abstract:
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In this paper, we present a physical implementation of Random Peer-to-Peer (RP2P) communication for use in a multiple-robot system and analyze its performance. Traditionally, multiple-robot systems have either broadcast all of their inter-robot communication or have avoided explicit communication al-together. RP2P communication, on the other hand, allows efficient system-level communication while retaining the error-correction capabilities of peer-to-peer connections. We demonstrate that RP2P communication can be implemented with off-the-shelf components. MRS as large as ten robots are investigated and it is demonstrated that message rates as high as 50 messages/second are easily achievable using TCP connections and 802.11B wireless interface.
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