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Performance Analysis of Entropy-based Multi-Robot Cooperative Systems in a MANET

Sang-Chul Kim, Kee Hyun Shin*, Chong-Woo Woo, Yun Shick Eom, and Jae Min Lee
International Journal of Control, Automation, and Systems, vol. 6, no. 5, pp.722-730, 2008

Abstract : This paper proposes two novel algorithms enabling mobile robots to cooperate with each other in a reliability-based system and a time-critical system. In the reliability-based cooperative system, the concepts of a mobile ad hoc network (MANET) and an object entropy are adopted in order to coordinate a specific task. A logical robot group is created based on the exchange of request and reply messages in a robot communication group whose organization depends on transmission range. In the time-critical cooperative system, relational entropy is used to define the relationship between mobile robots. A group leader is selected based on optimizing power consumption. The proposed algorithm has been verified based on the computer-based simulation and soccer robot experiment. The performance metrics are defined. The metrics include the number of messages needed to make a logical robot group and to obtain the relationship of robots and the power consumption to select a group leader. They are verified by simulation and experiment.

Keyword : Autonomous robots, entropy, message complexity, mobile ad hoc networks, robot cooperation.

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