Staudinger, Emanuel and Zhang, Siwei and Pöhlmann, Robert and Dammann, Armin (2021) The Role of Time in a Robotic Swarm: A Joint View on Communications, Localization, and Sensing. IEEE Communications Magazine, 59 (2), pp. 98-104. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MCOM.001.2000593. ISSN 0163-6804.
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Official URL: https://ieeexplore.ieee.org/document/9374604
Abstract
Autonomous robotic swarms are envisioned for a variety of sensing applications in space exploration, search-and-rescue and disaster management. An important capability of a swarm is sensing spatio-temporal processes such as radio wave propagation or seismic activities. The spatio-temporal properties of these processes dictate the required sensing position and time accuracy, as well as update rate. A dedicated wireless communication system needs to be jointly designed for swarm information exchange, self-localization and sensing. In this article, we emphasize the role of time in a robotic swarm. We introduce the system ingredients and dive into realistic clock models. Clock models and channel access scheme decisively influence the swarm self-localization and synchronization accuracy, and consequently the swarm sensing performance. Finally, we discuss practical implementation aspects, introduce our developed swarm radio system, and give an outlook on a moon-analogue exploration mission.
Item URL in elib: | https://elib.dlr.de/137622/ | |||||||||||||||
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Document Type: | Article | |||||||||||||||
Title: | The Role of Time in a Robotic Swarm: A Joint View on Communications, Localization, and Sensing | |||||||||||||||
Authors: |
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Date: | February 2021 | |||||||||||||||
Journal or Publication Title: | IEEE Communications Magazine | |||||||||||||||
Refereed publication: | Yes | |||||||||||||||
Open Access: | Yes | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | Yes | |||||||||||||||
In ISI Web of Science: | Yes | |||||||||||||||
Volume: | 59 | |||||||||||||||
DOI: | 10.1109/MCOM.001.2000593 | |||||||||||||||
Page Range: | pp. 98-104 | |||||||||||||||
Publisher: | IEEE - Institute of Electrical and Electronics Engineers | |||||||||||||||
ISSN: | 0163-6804 | |||||||||||||||
Status: | Published | |||||||||||||||
Keywords: | Localization, Cooperative Positioning, Synchronization, Wireless Communication, Robotics, Clocks, Time, Sensing, Distributed, Network, ROS, SDR, USRP, Gnuradio, Experiments | |||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | |||||||||||||||
HGF - Program: | Space | |||||||||||||||
HGF - Program Themes: | Communication, Navigation, Quantum Technology | |||||||||||||||
DLR - Research area: | Raumfahrt | |||||||||||||||
DLR - Program: | R KNQ - Communication, Navigation, Quantum Technology | |||||||||||||||
DLR - Research theme (Project): | R - Swarm navigation, R - Vorhaben GNSS2/Neue Dienste und Produkte (old) | |||||||||||||||
Location: | Oberpfaffenhofen | |||||||||||||||
Institutes and Institutions: | Institute of Communication and Navigation Institute of Communication and Navigation > Communications Systems | |||||||||||||||
Deposited By: | Staudinger, Dr.-Ing. Emanuel | |||||||||||||||
Deposited On: | 04 Dec 2020 15:38 | |||||||||||||||
Last Modified: | 19 Mar 2021 16:43 |
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