Neighbor detection and crosstalk elimination in self-reconfigurable robots

David Johan Christensen, David Brandt, Ulrik Pagh Schultz, Kasper Stoy

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Abstract

This paper addresses two issues concerning communication between neighbor modules in self-reconfigurable robots. The first issue is automatic neighbor detection that is due to modules self-reconfiguring, whereby the local communication network topology dynamically changes. The second issue is crosstalk between non-neighbor modules, where data packages send through an infrared communication channel are received by a non-neighbor module because of reflections. In this paper, we proposed algorithmic solutions to automatic neighbor detection and crosstalk elimination. The algorithms are simple, distributed, self-organizing and robust. For validation, they are implemented and evaluated on the physical ATRON system. In conclusion, the algorithms are efficient and effective and we argue that these algorithmic contributions may be applicable on other systems as well.
Original languageEnglish
Title of host publicationProceedings of International Conference on Robot Communication and Coordination
Publication date2007
Publication statusPublished - 2007
Externally publishedYes
Event1st International Conference on Robot Communication and Coordination - Athens, Greece
Duration: 15 Oct 200717 Oct 2007
Conference number: 1
http://robocomm.org/2007/

Conference

Conference1st International Conference on Robot Communication and Coordination
Number1
Country/TerritoryGreece
CityAthens
Period15/10/200717/10/2007
Internet address

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