Self-reorganizing Dynamic Formations of Mobile Autonomous Robots for Communication Network Optimization

摘要

This doctoral research intends to study a method to autonomously self reorganize a formation of mobile robots to optimize network performance. Currently, a program has already been developed that allows the robots to retrieve the received signal strength of their neighbours along with positional information of themselves and their neighbours. A routing protocol has also been developed and tested that uses the signal strength. It is intended to improve this protocol with the addition of positional data of each robot. Further studies will be conducted in uncommon environments, such as underground mines, to further its applications. Control algorithms have been developed and simulated to autonomously reorganize a small formation of car like robots to optimize communication links. These algorithms will also be used to automatically set up communication networks using droppable, non-moving routing nodes. Along with being simulated, experiments will be conducted in physical environments.