Dynamic Survivable Resource Pooling in FPGA-based Distributed Robotics System

Abstract

Dynamic Survivable Resource Pooling (DSRP) is a new mechanism to improve the survivability and reliability in distributed robotics systems. DSRP is based on a virtual backbone (VB), which is a highly distributed, scalable and survivable network, formed and maintained through one-hop beacons among mobile robots. We implement the DSRP mechanism in our FPGA-based distributed robotics system and demonstrate its effectiveness in a search-and-rescue scenario, where robots cooperate to provide the rescuer with a set of pictures to build a panoramic view of the disaster site.