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Proceedings Paper

Maintaining robust connectivity in heterogeneous robotic networks
Author(s): P. Cruz; R. Fierro; W. Lu; S. Ferrari
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Paper Abstract

In this paper, we are interested in exploiting the heterogeneity of a robotic network made of ground and aerial agents to sense multiple targets in a cluttered environment. Maintaining wireless communication on this type of networks is fundamentally important specially for cooperative purposes. The proposed heterogeneous network consists of ground sensors, e.g., OctoRoACHes, and aerial routers, e.g., quadrotors. Adaptive potential field methods are used to coordinate the ground mobile sensors. Moreover, a reward function for the aerial mobile wireless routers is formulated to guarantee communication coverage among the ground sensors and a fixed base station. A sub-optimal controller is proposed based on an approximate control policy iteration technique. Simulation results of a case study are presented to illustrate the proposed methodology.

Paper Details

Date Published: 17 May 2013
PDF: 15 pages
Proc. SPIE 8741, Unmanned Systems Technology XV, 87410N (17 May 2013); doi: 10.1117/12.2016236
Show Author Affiliations
P. Cruz, The Univ. of New Mexico (United States)
R. Fierro, The Univ. of New Mexico (United States)
W. Lu, Duke Univ. (United States)
S. Ferrari, Duke Univ. (United States)


Published in SPIE Proceedings Vol. 8741:
Unmanned Systems Technology XV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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