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Performance Analysis of Random Peer - to - Peer Communication for a Multiple-Robot System

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Author(s): Amit Agarwal | Dr. JM Keller

Journal: International Journal of Computer Science and Management Studies
ISSN 2231-5268

Volume: 11;
Issue: 02;
Start page: 195;
Date: 2011;
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Keywords: Robotics | Peer to Peer system | Implicit

ABSTRACT
In this paper, we present a physical implementation of Random Peer-to-Peer (RP2P) communication for use in a multiplerobot system and analyze its performance. Traditionally, multiple-robot systems have either broadcast all of their interrobot communication or have avoided explicit communication altogether. RP2P communication, on the other hand, allows efficient system-level communication while retaining the errorcorrection capabilities of peer-to-peer connections. We demonstrate that RP2P communication can be implementedwith off-the-shelf components. MRS as large as ten robots areinvestigated and it is demonstrated that message rates as highas 50 messages/second are easily achievable using TCPconnections and 802.11B wireless interface.
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