A neighbor discovery protocol with adaptive collision alleviation for wireless robotic networks

Recently, several movement control algorithms have been proposed to move robots to the desired locations and complete various collaborative tasks. These algorithms usually require information exchange among robots, which in turn relies on efficient neighbor discovery. However, neighbor discovery of robots is a challenging problem due to limited communication range and beacon collision. Here, how to set the time slot length and contention window to alleviate the beacon collisions is a major issue: too large or too small slot length and contention window values cannot achieve good performance in the robotic network. Therefore, we propose a neighbor discovery protocol with an adaptive collision alleviation mechanism, i.e. ND-ACA. ND-ACA adopts a simple mechanism to detect and avoid potential collisions before sending beacon, and adaptively adjusts both slot length and backoff window according to the number of historical beacon collections and beacon collisions. Extensive simulation results show the efficiency of our proposed approach. To the best of our knowledge, this is the first work in the literature that explore the joint implementation effects that simultaneously consider the robot mobility model and neighbor discovery.