Date of Award

1-1-2013

Document Type

Dissertation

Degree Name

Ph.D.

Organizational Unit

Daniel Felix Ritchie School of Engineering and Computer Science

First Advisor

Kimon P. Valavanis, Ph.D.

Second Advisor

Matthew J. Rutherford, Ph.D.

Third Advisor

Rita Ribeiro

Fourth Advisor

Robert Whitman

Fifth Advisor

Alvaro Arias

Keywords

Communication delay variability, Robot communication, Robots

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.

Publication Statement

Copyright is held by the author. User is responsible for all copyright compliance.

Rights Holder

Goncalo Martins

Provenance

Received from ProQuest

File Format

application/pdf

Language

en

File Size

164 p.

Discipline

Electrical engineering, Communication, Robotics

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