Multi-robot formation based on RSSI power level and radiation pattern

Abstract

This paper studies a formation control scheme to achieve a ‘dispersion’ of a group of robots using the Received Signal Strength Indication (RSSI) measurements of their on-board wireless nodes as feedback signals and their antenna radiation patterns (which is not omnidirectional in most of the cases) as a distance sensor between pairs of robots. In this sense, the multi-robot coordination evolves from a distance formation control to a power-based dispersion strategy. Thus, with the use of feedback through RSSI levels, the heading angle between the agents and the differences of its orientation angles, the control law becomes decentralised, avoiding the need of distance sensors. The result applies to a group of robots with a directed spanning tree topology, with root in the leader and the rest of followers are formed with respect to a unique local leader. The approach considers distinct radiation patterns found in Bluetooth or WiFi communication devices. As the approach ensures the convergence to desired values of RSSI, then a connectivity between the wireless nodes can be adjusted to maintain a desired communication data rate and wireless coverage by the robots posture. Simulations and real-time experiments illustrate the performance of the system.

Keywords:

• Omnidirectional robot
• RSSI power level
• leader–follower scheme
• linearisation

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

All the authors gratefully acknowledge the support from Universidad Iberoamericana Ciudad de México through the project grant DINVP-0051.

Notes on contributors

E. G. Hernandez-Martinez

E. G. Hernandez-Martinez received his M.Sc. and Ph.D. degrees in Electrical Engineering from CINVESTAV, Mexico. He is the Head and researcher at the Institute of Applied Research and Technology, Universidad Iberoamericana, Mexico City. He is member of the National Researchers System in Mexico Level 1.

Jaime González-Sierra

Jaime González-Sierra received his M.Sc. and Ph.D. degrees in Electrical Engineering in 2010 and 2016, respectively, from CINVESTAV, Mexico. He is professor at the Mechatronics Department at Universidad Politécnica de Pachuca. He is part of the National Researchers System in Mexico Level 1.

Eduardo Alvarez-Guzman

Eduardo Alvarez-Guzman obtained his BSEE degree from the University of Mexico (UNAM, Mexico) in 1989, his MSc and PhD degrees in electronics and telecommunications from the CICESE research center in 1999 and 2004, respectively. He currently is a full-time professor in the Universidad Autónoma de Baja California (UABC).

Guillermo Fernandez-Anaya

Guillermo Fernandez-Anaya received his M.Sc. and Ph.D. in Electrical Engineering from the Universidad Nacional Autónoma de México in 1987, and 1995, respectively. He is professor at the Physics and Mathematics Department at Universidad Iberoamericana, Mexico City. He is part of the National Researchers System in Mexico Level 2.

Enrique D. Ferreira-Vazquez

Enrique D. Ferreira-Vazquez received his Ph.D. degree in Electrical and Computer Engineering from Carnegie Mellon University in 1999. He is currently a Full Professor with the Department of Engineering, Universidad Catolica del Uruguay where he is the Director of the PhD program in engineering. Dr. Ferreira is also a Researcher of the Uruguayan National Research and Innovation Agency.

José-Job Flores-Godoy

José-Job Flores-Godoy got a Ph. D. in Electrical Engineering from Arizona State University in 2002. From 2003 to 2014 he worked at the Departamento de Física y Matemáticas at Universidad Iberoamericana Ciudad de México. Since 2014 he has been an Associate Professor the Departamento de Ciencias Exactas y Naturales, Universidad Católica del Uruguay, Montevideo, Uruguay.