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Improving 802.11p for Delivery of Safety-Critical Navigation Information in Robot-to-Robot Communication Networks

Accepted version
Peer-reviewed

Type

Article

Change log

Authors

Gielis, Jennifer 

Abstract

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.

Description

Keywords

46 Information and Computing Sciences, 4602 Artificial Intelligence

Journal Title

IEEE Communications Magazine

Conference Name

Journal ISSN

0163-6804
1558-1896

Volume Title

59

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Rights

All rights reserved
Sponsorship
Engineering and Physical Sciences Research Council (EP/S015493/1)
A. Prorok was supported by the Engineering and Physical Sciences Research Council (grant EP/ S015493/1).