Performance Evaluation of Multi-Hop Communication Based on a Mobile Multi-Robot System in a Subterranean Laneway = Performance Evaluation of Multi-Hop Communication Based on a Mobile Multi-Robot System in a Subterranean Laneway

다국어 초록 (Multilingual Abstract)

For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate a multi- hop communication caused by the robotics correspondingly, which are used in the uncertain and unknown subterranean tunnel. A Primary-Scout Multi-Robot System (PSMRS) was proposed. A chain topology in a subterranean environment was implemented using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. The ZigBee lC-CC2530 modular circuit was adapted by mounting it on the PS-MRS. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environment.

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