Maintaining communication between an explorer and a base station

Autores
Kutylowski, Jaroslaw; Dynia, Miroslaw; Lorek, Pawel; Meyer auf der Heide, Friedhelm
Año de publicación
2006
Idioma
inglés
Tipo de recurso
documento de conferencia
Estado
versión publicada
Descripción
Consider a (robotic) explorer starting an exploration of an unknown terrain from its base station. As the explorer has only limited communication radius, it is necessary to maintain a line of robotic relay stations following the explorer, so that consecutive stations are within the communication radius of each other. This line has to start in the base station and to end at the explorer. In the simple scenario considered here we assume an obstacle-free terrain, so that the shortest connection (the one which needs the smallest number of relay stations) is a straight line. We consider an explorer who goes an arbitrary, typically winding way, and define a very simple, intuitive, fully local, distributed strategy for the relay stations – our Go-To-The-Middle strategy – to maintain a line from the base station to the robot as short as possible. Besides the definition of this strategy, we present an analysis of its performance under different assumptions. For the static case we prove a bound on the convergence speed, for the dynamic case we present experimental evaluations that show the quality of our strategy under different types of routes the explorer could use.
1st IFIP International Conference on Biologically Inspired Cooperative Computing - Communication
Red de Universidades con Carreras en Informática (RedUNCI)
Materia
Ciencias Informáticas
Network communications
Robotics
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
SEDICI (UNLP)
Institución
Universidad Nacional de La Plata
OAI Identificador
oai:sedici.unlp.edu.ar:10915/24008

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spelling Maintaining communication between an explorer and a base stationKutylowski, JaroslawDynia, MiroslawLorek, PawelMeyer auf der Heide, FriedhelmCiencias InformáticasNetwork communicationsRoboticsConsider a (robotic) explorer starting an exploration of an unknown terrain from its base station. As the explorer has only limited communication radius, it is necessary to maintain a line of robotic relay stations following the explorer, so that consecutive stations are within the communication radius of each other. This line has to start in the base station and to end at the explorer. In the simple scenario considered here we assume an obstacle-free terrain, so that the shortest connection (the one which needs the smallest number of relay stations) is a straight line. We consider an explorer who goes an arbitrary, typically winding way, and define a very simple, intuitive, fully local, distributed strategy for the relay stations – our Go-To-The-Middle strategy – to maintain a line from the base station to the robot as short as possible. Besides the definition of this strategy, we present an analysis of its performance under different assumptions. For the static case we prove a bound on the convergence speed, for the dynamic case we present experimental evaluations that show the quality of our strategy under different types of routes the explorer could use.1st IFIP International Conference on Biologically Inspired Cooperative Computing - CommunicationRed de Universidades con Carreras en Informática (RedUNCI)2006-08info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionObjeto de conferenciahttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdfhttp://sedici.unlp.edu.ar/handle/10915/24008enginfo:eu-repo/semantics/altIdentifier/isbn/0-387-34632-5info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-sa/2.5/ar/Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Argentina (CC BY-NC-SA 2.5)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2025-09-03T10:28:26Zoai:sedici.unlp.edu.ar:10915/24008Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292025-09-03 10:28:26.336SEDICI (UNLP) - Universidad Nacional de La Platafalse
dc.title.none.fl_str_mv Maintaining communication between an explorer and a base station
title Maintaining communication between an explorer and a base station
spellingShingle Maintaining communication between an explorer and a base station
Kutylowski, Jaroslaw
Ciencias Informáticas
Network communications
Robotics
title_short Maintaining communication between an explorer and a base station
title_full Maintaining communication between an explorer and a base station
title_fullStr Maintaining communication between an explorer and a base station
title_full_unstemmed Maintaining communication between an explorer and a base station
title_sort Maintaining communication between an explorer and a base station
dc.creator.none.fl_str_mv Kutylowski, Jaroslaw
Dynia, Miroslaw
Lorek, Pawel
Meyer auf der Heide, Friedhelm
author Kutylowski, Jaroslaw
author_facet Kutylowski, Jaroslaw
Dynia, Miroslaw
Lorek, Pawel
Meyer auf der Heide, Friedhelm
author_role author
author2 Dynia, Miroslaw
Lorek, Pawel
Meyer auf der Heide, Friedhelm
author2_role author
author
author
dc.subject.none.fl_str_mv Ciencias Informáticas
Network communications
Robotics
topic Ciencias Informáticas
Network communications
Robotics
dc.description.none.fl_txt_mv Consider a (robotic) explorer starting an exploration of an unknown terrain from its base station. As the explorer has only limited communication radius, it is necessary to maintain a line of robotic relay stations following the explorer, so that consecutive stations are within the communication radius of each other. This line has to start in the base station and to end at the explorer. In the simple scenario considered here we assume an obstacle-free terrain, so that the shortest connection (the one which needs the smallest number of relay stations) is a straight line. We consider an explorer who goes an arbitrary, typically winding way, and define a very simple, intuitive, fully local, distributed strategy for the relay stations – our Go-To-The-Middle strategy – to maintain a line from the base station to the robot as short as possible. Besides the definition of this strategy, we present an analysis of its performance under different assumptions. For the static case we prove a bound on the convergence speed, for the dynamic case we present experimental evaluations that show the quality of our strategy under different types of routes the explorer could use.
1st IFIP International Conference on Biologically Inspired Cooperative Computing - Communication
Red de Universidades con Carreras en Informática (RedUNCI)
description Consider a (robotic) explorer starting an exploration of an unknown terrain from its base station. As the explorer has only limited communication radius, it is necessary to maintain a line of robotic relay stations following the explorer, so that consecutive stations are within the communication radius of each other. This line has to start in the base station and to end at the explorer. In the simple scenario considered here we assume an obstacle-free terrain, so that the shortest connection (the one which needs the smallest number of relay stations) is a straight line. We consider an explorer who goes an arbitrary, typically winding way, and define a very simple, intuitive, fully local, distributed strategy for the relay stations – our Go-To-The-Middle strategy – to maintain a line from the base station to the robot as short as possible. Besides the definition of this strategy, we present an analysis of its performance under different assumptions. For the static case we prove a bound on the convergence speed, for the dynamic case we present experimental evaluations that show the quality of our strategy under different types of routes the explorer could use.
publishDate 2006
dc.date.none.fl_str_mv 2006-08
dc.type.none.fl_str_mv info:eu-repo/semantics/conferenceObject
info:eu-repo/semantics/publishedVersion
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http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
format conferenceObject
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dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/isbn/0-387-34632-5
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Argentina (CC BY-NC-SA 2.5)
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Argentina (CC BY-NC-SA 2.5)
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