Testbed Experiments of Dynamic Survivable Resource Pooling Using FPGA-Based Robot

摘要

Dynamic Survivable Resource Pooling (DSRP) is a new mechanism to improve the survivability and reliability in distributed wireless mobile robotics systems. DSRP is based on a virtual backbone, which is a highly distributed, scalable, and survivable network, formed and maintained through one-hop beacons among mobile robots. We im- plement the DSRP mechanism in our FPGA-based dis- tributed robotics testbed and demonstrate its effectiveness in a search-and-rescue scenario, where robots cooperate to provide the rescuer with a set of pictures to build a panoramic view of the disaster site. The current testbed implementation at the City College of the City University of New York includes a total of 22 nodes emulating real- life mobile robots, where 2 nodes are FPGA boards and the remaining ones are laptop and desktop PCs. The mea- surements collected from the testbed confirm that the DSRP framework significantly improve the system reliability and survivability.