Experimental Results in Coordinating Three Mobile Robots Despite Communication Delays

Abstract

Cooperative behavior of multiple autonomous vehicles (agents) offers great potentials in military applications, search and rescue, satellite alignment, spacecraft formation etc., most of which require sharing of pseudo-GPS data among the agents in a network. One of the main challenges in achieving successful cooperative behavior is the inevitable latency in acquiring the pseudo-GPS data and the communication of the agents, or in other words, time delay. æIn this poster, we present our experimental results in which we investigate and validate some of our coordination algorithms in the presence of communication delays between the agents and the command-control center. These algorithms are derived from our analytical tools and Responsible Eigenvalue concept we developed previously to show the interplay between time delay, topology and system performance. In this experiment, three nonholonomic mobile robots communicate under time delay and we experimentally demonstrate that our algorithms can successfully coordinate these mobile robots, even if the communication delays are relatively larger compared to the speed of the robots. Results are one of the first in terms of experimental validation of multiple robot coordination in the presence of communication delays.