COMMUNICATION SYSTEMS FOR SWARM ROBOTICS

Abstract

The present thesis explores the field of delay-tolerant networks (DTN) and investigates two types of communication protocols - opportunistic and scheduled communications in swarm robots. The primary objective of this research is to develop a simulation that can emulate a network environment of swarm robots in which delays are not a hindrance to communication. Furthermore, the study aims to compare the effectiveness of opportunistic and scheduled communications in terms of their delivery speed, network load, and the variation between theoretical estimates and actual data collected. The research methodology involved the creation of a network of mobile nodes, represented by several cars that operate in different modes to facilitate data transfer between two points. The model systems section of this thesis elucidates the functioning of these cars and the modes of operation in detail. The data collected from experiments conducted with these mobile nodes are analyzed to identify the most efficient type of communication protocol. Key performance indicators such as the number of hops, delay, and packet delivery ratio are evaluated for both opportunistic and scheduled communications. The analysis is presented in the form of tables and graphs, which provide a clear picture of the comparative performance of each protocol. This thesis contributes to the understanding of delay-tolerant networks and the role of opportunistic and scheduled communications in such networks. The findings of this research have important implications for the development of more efficient and reliable communication protocols in dynamic and delay-prone environments.