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Dynamic Time Slot Allocation Algorithm for Quadcopter Swarms

Azem, S. ; Tahir, A. ; Koeppl, H. (2022)
Dynamic Time Slot Allocation Algorithm for Quadcopter Swarms.
19th Annual Consumer Communications & Networking Conference. virtuell Conference (08.-11.01.2022)
doi: 10.1109/CCNC49033.2022.9700712
Conference or Workshop Item, Bibliographie

Abstract

A swarm of quadcopters can perform cooperative tasks, such as monitoring of a large area, more efficiently than a single one. However, to be able to successfully work together, the quadcopters must be aware of the position of the other swarm members, especially to avoid collisions. A quadcopter can share its own position by transmitting it via radio waves and in order to allow multiple quadcopters to communicate effectively, a decentralized channel access protocol is essential. We propose a new dynamic channel access protocol, called Dynamic time slot allocation (DTSA), where the quadcopters share the total channel access time in a non-periodic and decentralized manner. Quadcopters with higher communication demands occupy more time slots than less active ones. Our dynamic approach allows the agents to adapt to changing swarm situations and therefore to act efficiently, as compared to the state-of-the-art periodic channel access protocol, time division multiple access (TDMA). Along with simulations, we also do experiments using real Crazyflie quadcopters to show the improved performance of DTSA as compared to TDMA.

Item Type: Conference or Workshop Item
Erschienen: 2022
Creators: Azem, S. ; Tahir, A. ; Koeppl, H.
Type of entry: Bibliographie
Title: Dynamic Time Slot Allocation Algorithm for Quadcopter Swarms
Language: English
Date: 10 February 2022
Publisher: IEEE
Book Title: 2022 IEEE 19th Annual Consumer Communications & Networking Conference (CCNC)
Event Title: 19th Annual Consumer Communications & Networking Conference
Event Location: virtuell Conference
Event Dates: 08.-11.01.2022
DOI: 10.1109/CCNC49033.2022.9700712
URL / URN: https://ieeexplore.ieee.org/abstract/document/9700712
Abstract:

A swarm of quadcopters can perform cooperative tasks, such as monitoring of a large area, more efficiently than a single one. However, to be able to successfully work together, the quadcopters must be aware of the position of the other swarm members, especially to avoid collisions. A quadcopter can share its own position by transmitting it via radio waves and in order to allow multiple quadcopters to communicate effectively, a decentralized channel access protocol is essential. We propose a new dynamic channel access protocol, called Dynamic time slot allocation (DTSA), where the quadcopters share the total channel access time in a non-periodic and decentralized manner. Quadcopters with higher communication demands occupy more time slots than less active ones. Our dynamic approach allows the agents to adapt to changing swarm situations and therefore to act efficiently, as compared to the state-of-the-art periodic channel access protocol, time division multiple access (TDMA). Along with simulations, we also do experiments using real Crazyflie quadcopters to show the improved performance of DTSA as compared to TDMA.

Uncontrolled Keywords: quadcopters, dynamic communication channel access, decentralised scalable communication, Time division multiple access, Adaptation models
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institute for Telecommunications > Bioinspired Communication Systems
18 Department of Electrical Engineering and Information Technology > Institute for Telecommunications
DFG-Collaborative Research Centres (incl. Transregio)
DFG-Collaborative Research Centres (incl. Transregio) > Collaborative Research Centres
DFG-Collaborative Research Centres (incl. Transregio) > Collaborative Research Centres > CRC 1053: MAKI – Multi-Mechanisms Adaptation for the Future Internet
DFG-Collaborative Research Centres (incl. Transregio) > Collaborative Research Centres > CRC 1053: MAKI – Multi-Mechanisms Adaptation for the Future Internet > C: Communication Mechanisms
DFG-Collaborative Research Centres (incl. Transregio) > Collaborative Research Centres > CRC 1053: MAKI – Multi-Mechanisms Adaptation for the Future Internet > C: Communication Mechanisms > Subproject C3: Content-centred perspective
Date Deposited: 29 Mar 2022 09:44
Last Modified: 29 Mar 2022 09:44
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