Coordinated Traffic Scheduling for Communicating Mobile Robots

Anjan Ray, TM McGinnity, Laxmidhar Behera, SA Coleman, Mo Jamshidi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


In this paper, a multi-robot networking paradigm is presented. This provides a general framework for coordination among a group of robots. An experiment is conducted showingthe effectiveness of the developed network paradigm where a robot controls a group of robots. A coordinated traffic scheduling method is proposed for mobile robots. The aim is to build onboard knowledge for autonomous robots without ranging sensors (sonar or laser range finder) and/or cameras. In this work, more emphasis is given on the exploration of interactions between a pair of robots. The robots share their positions,orientations and safety information and the decision of a robot depends on interactions of the forward safe paths (FSPs) of these robots. The properties of intersection of two straight lines are used to classify different situations. The proposed method is discussed in details with various combinations of scenarios. Simulation results are presented to show the effectiveness of the proposed method.Anjan Kumar Ray ∗, Martin McGinnity ∗, Laxmidhar Behera †, Sonya Coleman ∗, Mo Jamshidi ‡
Original languageEnglish
Title of host publicationUnknown Host Publication
Place of PublicationNew York
Number of pages6
ISBN (Print)978-1-61284-783-2
Publication statusPublished (in print/issue) - 29 Jun 2011
Event6th Int Conference on Systems of Systems Engineering IEEE SOSE 2011 - Albuquerque New Mexico USA
Duration: 29 Jun 2011 → …


Conference6th Int Conference on Systems of Systems Engineering IEEE SOSE 2011
Period29/06/11 → …
Internet address


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