Optical Wireless Communications for Heterogeneous DARS

摘要

Distributed autonomous robotic systems (DARS) can provide essential support to human task forces in a variety of missions. Maintaining reliable communications on these mobile networks is critically important for cooperative autonomy. Radio-frequency is the common wireless communication technology employed for task coordination. However, it has some limitations that can be mitigated by complementing radio-frequency systems with optical wireless communications. In this chapter, we present our efforts for the development and implementation of an optical wireless communication link in DARS, more specifically between aerial (e.g., quadrotors) and ground robots. We describe a line-of-sight directed optical link between these two platforms. In addition, we detail our strategy to maintain an adequate transmitter-receiver relative position to enhance the optical signal strength. Furthermore, we provide some details about our optical transceiver prototype that can be mounted on small aerial and ground autonomous robotic systems.