Abstract
The present paper considers a multihop teleoperation by mobile robotic sensor network in an unknown environment. A mobile robotic sensor network is composed of a distributed collection of mobile robots, each of which has sensing, computation, communication, and locomotion capabilities. Such a network is capable of changing the network topology in order to gather distributed information to the sink node in an unknown and dynamic environment. To realize this network, we propose a self-deployment algorithm by which robots can explore an environment while maintaining their communication link. In addition, a routing algorithm is developed so that observed data from a robot is transferred to the sink. Furthermore, a mobile robot system inter-linked with peer-to-peer communication is developed. Finally, a multihop teleoperation system is developed for a multi-robot cooperation platform.
