An adaptive mobile robots tethering algorithm in constrained environments

Document Type

Conference Proceeding

Publication Date



This paper presents an adaptive and decentralized robotic cooperation algorithm for controlling the mobile sensors to form a chained network and maintaining the communication links. A single-layer and double-layer chain tethering algorithms are developed for exploring the open and constrained environments by mobile robots. A comprehensive metric for finding the optimal communication range is introduced. With the measurements, mobile robots could be organized into an optimal chained form for tethering. The tethering algorithm could detect the failed nodes and reconfigure the system. It offers an adaptive solution to broken communication links. © 2009 IEEE.

Publication Title

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009