Abstract: This paper describes an information gathering system comprising multiple mobile robots and a wireless sensor network. In general, a single robot searches an environment using a teleoperation system in a multistage relay network while maintaining communication quality. However, the search range of a single robot is limited, and it is difficult to gather comprehensive information in large-scale facilities. This paper proposes a multistage relay network topology using IEEE802.11ax for information gathering by multi-robot. In this multi-robot operation, a mobile robot carries wireless relay nodes and deploys them into the environment. After a network is constructed, each robot connects to this network and gathers information. An operator then controls each robot remotely while monitoring its end-to-end communication quality with each mobile robot in the network. This paper proposes a method assuming the end-to-end throughput with multiple mobile robots. The validity of the proposed method is then inspected via an evaluation experiment on multi-robot teleoperation. The experimental results show that the network constructed with the proposed topology is capable of maintaining the communication connectivity of more than three mobile robots.

Ryo Odake, Kei Sawai, Noboru Takagi, Hiroyuki Masuta and Tatsuo Motoyoshi, “Multistage Relay Network Topology using IEEE802.11ax for Construction of Multi-robot Environment” International Journal of Advanced Computer Science and Applications(IJACSA), 12(12), 2021. http://dx.doi.org/10.14569/IJACSA.2021.0121262

@article{Odake2021,
title = {Multistage Relay Network Topology using IEEE802.11ax for Construction of Multi-robot Environment},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2021.0121262},
url = {http://dx.doi.org/10.14569/IJACSA.2021.0121262},
year = {2021},
publisher = {The Science and Information Organization},
volume = {12},
number = {12},
author = {Ryo Odake and Kei Sawai and Noboru Takagi and Hiroyuki Masuta and Tatsuo Motoyoshi}
}