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Underwater Multirobot Cooperative Intervention MAC Protocol

2020

This work introduces a Medium Access Control (MAC) protocol designed to allow a group of underwater robots that share a wireless communication channel to effectively communicate with each other. The goal of the Underwater Multirobot Cooperative Intervention MAC (UMCI-MAC) protocol presented in this work is to minimize the end to end delay and the jitter. The access to the medium in UMCI-MAC follows a Time Division Multiple Access (TDMA) strategy which is arbitrated by a master, which also has the capability to prioritize the transmission of some nodes over the rest of the network. Two experiments have been carried out with a team of four Autonomous Underwater Vehicles (AUV) in order to comp…

wireless networksaccess protocolsGeneral Computer ScienceComputer scienceUnderwater communicationsEnd-to-end delayTime division multiple accessThroughput02 engineering and technologyteleroboticsTelecomunicació0203 mechanical engineering0202 electrical engineering electronic engineering information engineeringWirelessGeneral Materials ScienceJitterbusiness.industryNetwork packetWireless networkComputerSystemsOrganization_COMPUTER-COMMUNICATIONNETWORKSGeneral Engineering020302 automobile design & engineering020206 networking & telecommunicationsApplication layerunderwater communicationslcsh:Electrical engineering. Electronics. Nuclear engineeringremotely operated vehiclesbusinessCommunications protocolRobotsProtocols de xarxes d'ordinadorslcsh:TK1-9971Underwater acoustic communicationComputer networkCommunication channelIEEE Access
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