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dc.contributor.authorGielis, Jenniferen
dc.contributor.authorProrok, Amandaen
dc.date.accessioned2021-03-10T12:43:15Z
dc.date.available2021-03-10T12:43:15Z
dc.date.issued2021-01en
dc.identifier.issn0163-6804
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/318607
dc.description.abstractReal-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.
dc.description.sponsorshipA. Prorok was supported by the Engineering and Physical Sciences Research Council (grant EP/ S015493/1).
dc.publisherInstitute of Electrical and Electronics Engineers
dc.rightsAll rights reserved
dc.titleImproving 802.11p for Delivery of Safety-Critical Navigation Information in Robot-to-Robot Communication Networksen
dc.typeArticle
prism.endingPage21
prism.issueIdentifier1en
prism.publicationDate2021en
prism.publicationNameIEEE Communications Magazineen
prism.startingPage16
prism.volume59en
dc.identifier.doi10.17863/CAM.65722
dcterms.dateAccepted2020-12-15en
rioxxterms.versionofrecord10.1109/mcom.001.2000545en
rioxxterms.versionAM
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2021-01en
dc.contributor.orcidProrok, Amanda [0000-0001-7313-5983]
dc.identifier.eissn1558-1896
rioxxterms.typeJournal Article/Reviewen
pubs.funder-project-idEPSRC (EP/S015493/1)


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