Date of Award

1-1-2013

Document Type

Dissertation

Degree Name

Ph.D.

Department

Electrical Engineering

First Advisor

Mustafa A. Ayad

Keywords

gradient, HMM, Meta-routing, Motion Control, Volatility, Wireless

Abstract

The maintenance of network connectivity is essential for effective and efficient mobile team operations. Achieving robust mobile ad hoc networks (MANETs) connectivity requires a capable link maintenance mechanism especially if the network experiences expected intermittent connectivity due to a hostile environment. One applicable example of such network scenarios is multi-robot exploration for urban search

and rescue (USAR). With the proliferation of these robotic networks, communication problems such as the link maintenance problem are subject to be raised quickly.

Although various routing protocols for wireless ad hoc networks have been proposed, they solve the problems of message routing and link maintenance separately, resulting in additional overhead costs and long latency in network communication. Traditional routing protocols discover existing links, connect these links, find the best path and minimize the path cost. The limitation of previous routing protocols motivates us

to develop a new concept of routing mechanism for a robotic network. This routing mechanism is named Meta-Routing. Meta-Routing expands current routing protocols to include not only the normal routing of packets, but also the maintenance of links in mobile agent scenarios. Thus, Meta-Routing minimizes the communication path cost and the overhead cost, the latter of which results from discovering a route, repairing a link or establishing a new communication path between nodes.

Provenance

Recieved from ProQuest

Rights holder

Mustafa Abdsalam Ayad

File size

158 p.

File format

application/pdf

Language

en

Discipline

Electrical engineering

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