TY - GEN
T1 - Dark-Room Exchange
T2 - 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019
AU - Krishnamoorthy, Saiprasanth
AU - Go, Albert P.
AU - Tiwari, Ashlee
AU - Kapila, Vikram
N1 - Funding Information:
Work supported in part by the National Science Foundation under RET Site grant EEC-1542286, ITEST grant DRL-1614085, and DRK-12 grant DRL-1417769, and NY Space Grant Consortium grant 48240-7887.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - This paper develops a distributed technique to populate the network graph of a decentralized multi-robot system (MRS) by employing a consensus protocol for extracting the identities and states of each robot's neighbors in the MRS. A dark-room exchange (DRE) technique is proposed wherein each robot uses its on-board 2D LiDAR for range sensing and peer-to-peer communication to identify and track neighboring objects. The resulting information is utilized to build and maintain a distributed ledger populated with the information of the MRS network graph structure to facilitate supervision by human operators. The system is tested in a simulated environment consisting of TurtleBot3 robots scattered in a 2D plane. Using the results of simulation, an analysis of the speed and performance of the DRE technique is conducted that illustrates high reliability and fast response times. The paper concludes with a discussion of the future scope of this research for multi-robot/swarm applications.
AB - This paper develops a distributed technique to populate the network graph of a decentralized multi-robot system (MRS) by employing a consensus protocol for extracting the identities and states of each robot's neighbors in the MRS. A dark-room exchange (DRE) technique is proposed wherein each robot uses its on-board 2D LiDAR for range sensing and peer-to-peer communication to identify and track neighboring objects. The resulting information is utilized to build and maintain a distributed ledger populated with the information of the MRS network graph structure to facilitate supervision by human operators. The system is tested in a simulated environment consisting of TurtleBot3 robots scattered in a 2D plane. Using the results of simulation, an analysis of the speed and performance of the DRE technique is conducted that illustrates high reliability and fast response times. The paper concludes with a discussion of the future scope of this research for multi-robot/swarm applications.
UR - http://www.scopus.com/inward/record.url?scp=85078836446&partnerID=8YFLogxK
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U2 - 10.1109/RO-MAN46459.2019.8956454
DO - 10.1109/RO-MAN46459.2019.8956454
M3 - Conference contribution
T3 - 2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019
BT - 2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 14 October 2019 through 18 October 2019
ER -