Date of Award

1-1-2013

Document Type

Dissertation

Degree Name

Ph.D.

Department

Electrical Engineering

First Advisor

Kimon Valavanis

Second Advisor

Matthew Rutherford

Abstract

A novel architecture is presented for reducing communication delay variability for a group of robots. This architecture relies on using three components: a microprocessor architecture that allows deterministic real-time tasks; an event-based communication protocol in which nodes transmit in a TDMA fashion, without the need of global clock synchronization techniques; and a novel communication scheme that enables deterministic communications by allowing senders to transmit without regard for the state of the medium or coordination with other senders, and receivers can tease apart messages sent simultaneously with a high probability of success. This approach compared to others, allows simultaneous communications without regard for the state of the transmission medium, it allows deterministic communications, and it enables ordered communications that can be a applied in a team of robots.

Simulations and experimental results are also included.

Provenance

Recieved from ProQuest

Rights holder

Goncalo Martins

File size

164 p.

File format

application/pdf

Language

en

Discipline

Electrical engineering, Communication, Robotics

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