Ad Hoc Wireless Networking and Shared Computation for Autonomous Multirobot Systems
Hall, Jason S.
The article of record as published may be located at http://dx.doi.org/10.2514/1.40734
A wireless ad hoc network is introduced that enables inter-robot communication and
shared computation among multiple robots with PC/104-based single board computers running
the real-time application interface patched Linux operating system. Through the use of
IEEE 802.11 ad hoc technology and User Datagram Protocol, each robot is able to exchange
data without the need of a centralized router or wireless access point. The paper presents
three key aspects of this novel architecture to include: 1) procedures to install the real-time
application interface patched operating system and wireless ad hoc communication protocol
on a multiple robot system; 2) development of a Simulink® library to enable intercommunication
among robots and provide the requisite software-hardware interfaces for the onboard
sensor suite and actuator packages; 3) methods to rapidly generate and deploy real-time executables
using Mathwork’s Real-TimeWorkshop™ to enable an autonomous robotic system.
Experimental test results from the Spacecraft Robotics Laboratory at the Naval Postgraduate
School are presented which demonstrate negligible network latencies and real-time
distributed computing capability on theAutonomous Spacecraft Assembly Test Bed.A complete
manual is also included to replicate the network and software infrastructures described
in this work. Also, the developed Simulink® library can be requested from the authors.
This research was partially supported by Defense Advanced Research Projects Agency (DARPA), and was performed while R. Bevilacquawas holding a National Research Council Research Associateship Award at the Spacecraft Robotics Laboratory of the US Naval Postgraduate School.