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Proceedings Paper

Experiments with autonomous mobile radios for wireless tethering in tunnels
Author(s): Kevin L. Moore; Manoja D. Weiss; John P. Steele; Ken Anderson; Jesse Hulbert; Christer Karlsson; Eric Larson; Chris Meehan; Alejandro Weinstein
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Paper Abstract

Tunnels are a challenging environment for radio communications. In this paper we consider the use of autonomous mobile radio nodes (AMRs) to provide wireless tethering between a base station and a leader in a tunnel exploration scenario. Using a realistic, experimentally-derived underground radio signal propagation model and a tethering algorithm for AMR motion control based on a consensus variable protocol, we present experimental results involving a tele-operated leader with one or two followers. Using radio signal strength measurements, the followers autonomously space themselves so as to achieve equal radio distance between each entity in the chain from the base to the leader. Results show the feasibility of our ideas.

Paper Details

Date Published: 7 May 2010
PDF: 12 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76920R (7 May 2010); doi: 10.1117/12.849328
Show Author Affiliations
Kevin L. Moore, Colorado School of Mines (United States)
Manoja D. Weiss, Colorado School of Mines (United States)
John P. Steele, Colorado School of Mines (United States)
Ken Anderson, Colorado School of Mines (United States)
Jesse Hulbert, Colorado School of Mines (United States)
Christer Karlsson, Colorado School of Mines (United States)
Eric Larson, Colorado School of Mines (United States)
Chris Meehan, Colorado School of Mines (United States)
Alejandro Weinstein, Colorado School of Mines (United States)

Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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