Establishing spatially targeted communication in a heterogeneous robot swarm

We consider a heterogeneous swarm consisting of aerial and wheeled robots. We present a system that enables spatially targeted communication. Our system enables aerial robots to establish dedicated communication links with individual wheeled robots or with selected groups of wheeled robots based on their position in the environment. The system does not rely on any form of global information. We show how a spatially targeted one-to-one communication link can be established using a simple LED and camera based communication modality. We provide a probabilistic model of our approach to derive an upper bound on the average time required for establishing communication. In simulation, we show that our approach scales well. Furthermore, we show how our approach can be extended to establish a spatially targeted one-to-many communication link between an aerial robot and a specific number of co-located wheeled robots. The heterogeneous swarm robotic hardware is currently under development. We therefore demonstrate the proposed approach on an existing multirobot system consisting of only wheeled robots by letting one of the wheeled robots assume the role of an aerial robot.