Active QoS Flow Maintenance in Controlled Mobile Networks

摘要

Applications involving teams of mobile robots will require robots within the system to form connections to other members with certain quality of service (QoS) requirements. We present a distributed control architecture that allows robots participating in routing a QoS flow to maintain the required level of service while addressing secondary objectives. A distributed control system preserves global properties using 'best-effort', error-suppressing controllers. We outline a routing protocol that dynamically reconfigures a flow by recruiting neighboring robots if it believes a routing fault may occur. We evaluate the control architecture and dynamic configuration protocol in simulation, using the ns-2 network simulator and Player/Stage robot simulator platforms.