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Gray Transceiver: A multi-robot communication interface and protocol

by William Davis

Institution:	Mississippi State University
Year:	2017
Keywords:	multi-robot; ROS; Gray Transceiver
Posted:	02/01/2018
Record ID:	2154413
Full text PDF:	http://sun.library.msstate.edu/ETD-db/theses/available/etd-03192017-230302/;

Abstract

The use of multi-robot teams in the Robot Operating System (ROS) has encountereddifficulty in advancement because of a lack of effective ways for the robots to communicate.Several attempts towards solving this problem have been made, but these approacheshave had trouble with either low fault tolerance or high network load. The Gray Transceiveris an interface and communication protocol for inter-robot communication using ROS. TheGray Transceiver leverages multicasting for reduced network load and increased fault tolerance.Results from simulations, high throughput testing, and live multi-robot evaluationsare included. The live mult-robot and simulation evaluations show that it functions properlyoperating across multiple robots while tolerating faults. The high throughput testshows how the Gray Transceiver operates under high load across a several types of conditions. Advisors/Committee Members: Cindy L. Bethel (chair), Christopher Archibald (committee member), Bryan A. Jones (committee member).