Robust communication for location-aware mobile robots using motes
This thesis presents a robust wireless communication solution for mobile robots using motes. Motes, sometimes referred to as smart dust, are small, low-cost, low-power computing devices equipped with wireless communication capability that uses Radio Frequency (RF). Motes have been applied widely in wireless sensing networks and are typically connected to sensors and used to gather information about their environment. Communication in a mote network is inherently unreliable due to message loss, exposed to attacks, and supports very low bandwidth. Additional mechanisms are therefore required in order to achieve robust communication.
Multi-hop routing must be used to overcome short signal transmission range. The ability of a mobile robot to determine its present location can be exploited in building an appropriate routing protocol. When present, information about a mobile robot's future location can aid further the routing process. To guarantee message delivery, a transport protocol is necessary. Optimal packet sizes should be chosen for best network throughput. To protect the wireless network from attacks, an efficient security protocol can be used.
This thesis describes the hardware setup, software configuration, and a network protocol for a team of mobile robots that use motes for robust wireless communication. The thesis also presents results of experiments performed.
School:Kansas State University
School Location:USA - Kansas
Source Type:Master's Thesis
Keywords:network communication mote wireless sensor security robot computer science 0984
Date of Publication:01/01/2008