Distributed Intelligence Empowered Data Aggregation and Distribution for Multi-robot Cooperative Communication

摘要

In multi-robot cooperative communication, the principal operations of distributed intelligence is to collect and distribute data on a specific node. However, most data link layer protocols support single-hop communications. Adding a network layer routing protocol can perform multi-hop communication but will generate invalid routes and extra costs. In this paper, we present a data link layer ad hoc protocol for multi-robot cooperative communication, called Robot Cluster Wireless Link(RCWL). RCWL can be deployed on the Linux-kernel system based embedded devices. It allows the central node, which is called the master node, to aggregate data from slave nodes for performance prediction and decision optimization. Besides, it ensures the data distribution capability of the master node. Furthermore, the protocol supports multi-hop data transmission and is self-adaptive to the changes in the network topology.