Consensus Protocol for Underwater Multi-Robot System Using Two Communication Channels (CROSBI ID 676946)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Arbanas, Barbara ; Petrović Tamara ; Bogdan Stjepan
engleski
Consensus Protocol for Underwater Multi-Robot System Using Two Communication Channels
In this paper, we apply a simple consensus protocol to a simulated underwater multi-robot system using two communication channels. The approach is motivated by a system in which robots, called aMussels, are dispersed in the environment and measure its properties over longer periods of time. Each unit is equipped with two underwater communication devices: green light , short-range communication device based on modulated light, and nanomodem , long- range acoustic communication device. Except for range, the two communication channels differ in the transmission speed. Both are combined in order to attain fast and accurate average consensus. We bring the results of the protocol applied to the simulated system and analyze its convergence.
acoustic wave transmission ; consensus protocol ; multi-robot systems
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
Podaci o prilogu
358-363.
2018.
objavljeno
10.1109/MED.2018.8442929
Podaci o matičnoj publikaciji
Proceedings of the 26th Mediterranean Conference on Control and Automation (MED)
Podaci o skupu
26th Mediterranean Conference on Control and Automation (MED 2018)
predavanje
19.06.2018-22.06.2018
Zadar, Hrvatska