Improving 802.11p for Delivery of Safety-Critical Navigation Information in Robot-to-Robot Communication Networks
IEEE Communications Magazine
Institute of Electrical and Electronics Engineers
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Gielis, J., & Prorok, A. (2021). Improving 802.11p for Delivery of Safety-Critical Navigation Information in Robot-to-Robot Communication Networks. IEEE Communications Magazine, 59 (1), 16-21. https://doi.org/10.1109/mcom.001.2000545
Real-world robot networks create hostile radio environments due to their highly dynamic communication topologies and stringent real-time transmission requirements. In this article, we pro- pose improvements to contention-based networks that utilize inter-robot navigation information for safer robot motion control in dense multi-robot settings. Toward this end, we introduce a Crash Risk Prioritization (CRP) index, which is employed as the core metric in a scheme of dynamic beacon rate control. Key to our approach is a coupled evaluation setup that allows us to evaluate the impact of network-level changes on the safety of robot navigation. Our results demonstrate that the co-design and simulation of robotic control algorithms and network protocols provide key insights and metrics into the network-level requirements for V2V systems. These insights allow us to make informed conclusions about how such net- works can be best served by emerging standards.
A. Prorok was supported by the Engineering and Physical Sciences Research Council (grant EP/ S015493/1).
External DOI: https://doi.org/10.1109/mcom.001.2000545
This record's URL: https://www.repository.cam.ac.uk/handle/1810/318607
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