{"title":"Implementation of a routing protocol for ad hoc networks in search and rescue robotics","authors":"Filipe Araújo, José Santos, R. Rocha","doi":"10.1109/WD.2014.7020821","DOIUrl":"https://doi.org/10.1109/WD.2014.7020821","url":null,"abstract":"As robotics evolves, we expect to see increasing numbers of search and rescue teams (SARTs) of humans and autonomous mobile robots, especially in hazardous scenarios. Under these conditions, a third party infrastructure network might be unavailable, forcing the agents' mobile devices to self-organize in a wireless ad hoc network. Search and rescue actions pose specific challenges to these networks, as they need large communication bandwidths, and, at the same time, a very tight connection to the Command Center (CC). Hence, SART ad hoc networks are neither typical mobile ad hoc networks (MANETs), nor wireless sensor networks with firm energy restrictions. To respond to these requirements, we propose a routing protocol, called CHOPIN, that defines a tree rooted at the CC, while also allowing flooding within teams of nodes. We conceived, implemented and integrated this protocol in the Robot Operating System (ROS), using simple but proven methods, and open standards for messages. The field benchmarking we did against the Optimized Link State Routing Protocol (OLSR) shows the ability of CHOPIN to assist SART agents in their communication.","PeriodicalId":311349,"journal":{"name":"2014 IFIP Wireless Days (WD)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127697702","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
M. Baguena, C. Calafate, Juan-Carlos Cano, P. Manzoni
{"title":"TGRP: Topological-Geographical adaptive Routing Protocol for vehicular environments","authors":"M. Baguena, C. Calafate, Juan-Carlos Cano, P. Manzoni","doi":"10.1109/WD.2014.7020814","DOIUrl":"https://doi.org/10.1109/WD.2014.7020814","url":null,"abstract":"Vehicular networks represent an extremely variable and unpredictable environment. Scenarios can vary from very dense and congested configurations to sparsely populated arrangements. Therefore, protocols designed for such a general scope may fail to efficiently behave in certain configurations. In this paper we propose the Topological-Geographical Routing Protocol (TGRP), a novel solution that presents an adaptive behavior by using a set of standard routing strategies. According to the scenario, TGRP chooses among four different routing approaches - two-hop direct delivery, Dynamic MANET On-demand (DYMO), greedy georouting, and store-carry-and-forward technique- to dynamically adapt its behavior to every situation. Performance evaluation shows that TGRP presents a more stable performance under different circumstances, being more adaptable to the changing characteristics of vehicular networks. In fact, TGRP outperforms DYMO by 10% in low density scenarios. In dense networks, TGRP also outperforms the Delay Tolerant Network (DTN) protocol by 10%.","PeriodicalId":311349,"journal":{"name":"2014 IFIP Wireless Days (WD)","volume":"50 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114041503","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}