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      Route Swarm: Wireless Network Optimization through Mobility

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          Abstract

          In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE), consists of a Physical Control Plane (PCP) which commands agent position, and an Information Control Plane (ICP) which regulates information flow towards communication/sensing objectives. We describe an instantiation where a mobile robotic network is dynamically reconfigured to ensure high quality routes between static wireless nodes, which act as source/destination pairs for information flow. The ICP commands the robots towards evenly distributed inter-flow allocations, with intra-flow configurations that maximize route quality. The PCP then guides the robots via potential-based control to reconfigure according to ICP commands. This formulation, deemed Route Swarm, decouples information flow and physical control, generating a feedback between routing and sensing needs and robotic configuration. We demonstrate our propositions through simulation under a realistic wireless network regime.

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          Author and article information

          Journal
          2013-07-31
          2014-02-06
          10.1109/IROS.2014.6943092
          1308.0037

          http://arxiv.org/licenses/nonexclusive-distrib/1.0/

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          9 pages, 4 figures, submitted to the IEEE International Conference on Intelligent Robots and Systems (IROS) 2014
          cs.SY cs.MA cs.NI cs.RO math.OC

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