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The Role of Time in a Robotic Swarm: A Joint View on Communications, Localization, and Sensing

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.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9374604


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/
Document Type:Article
Title:The Role of Time in a Robotic Swarm: A Joint View on Communications, Localization, and Sensing
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Staudinger, EmanuelUNSPECIFIEDhttps://orcid.org/0000-0002-9601-2887UNSPECIFIED
Zhang, SiweiUNSPECIFIEDhttps://orcid.org/0000-0003-4390-458XUNSPECIFIED
Pöhlmann, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-7362-9406UNSPECIFIED
Dammann, ArminUNSPECIFIEDhttps://orcid.org/0000-0002-7112-1833UNSPECIFIED
Date:February 2021
Journal or Publication Title:IEEE Communications Magazine
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 98-104
Publisher:IEEE - Institute of Electrical and Electronics Engineers
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:23 Oct 2023 09:26

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