Bit Rate Improvement of Spatially Seamless Local Communication System using EFM

Abstract

In multiple robots environment, it is an essential technique that the robots avoid collisions with each other. To achieve efficient collision avoidance, it is desirable that each robot avoids surrounding robots considering not only their positions but also their behaviors. We have developed spatially seamless local communication system in order to exchange behaviors between the robots. This system ensures spatially seamless communicable area towards robot's surroundings by rotating a transmitter and a receiver. However, a bit rate of the communication is insufficient. Although the system has redundant frame structure to detect interference between signals from different transmitters, it causes decrease of the bit rate. In this paper, we aim to improve the bit rate by reducing length of frame of transmission pulse with the interference detection function.