Communication is an essential resource to foster effective cooperation among robots, the way… 1 answer below »

Communication is an essential resource to foster effective cooperation among robots, the way robots communicate can be divided into basically three types: i) implicit communication (i.e., stigmergy); ii) passive action recognition; and iii) explicit communication. Within the three techniques, the use of explicit communication is the most appealing method and the one adopted in this work, because of its directness and ease with which robots can become aware of the actions and goals of their teammates. However, and as previously addressed in this thesis, the development of robot teams for unstructured scenarios, such as SaR, requires robots to maintain communication among them without the aid of a communication infrastructure. In other words, and the robots need to be able to maintain a MR-Leach in order to explicitly exchange information within multi-hop network paths with-out unnecessarily restricting the team’s range. Nevertheless, as previously stated, such networks typically consist of many distributed simplistic nodes (i.e., swarm robots) that organize themselves into multi-hop wireless networks. Adding this to the fact that robots are deployed in either hostile or inaccessible environments, then the MR-Leach connectedness may significantly drop, thus jeopardizing the success of the mission.