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Underwater Multirobot Cooperative Intervention MAC Protocol

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Underwater Multirobot Cooperative Intervention MAC Protocol

dc.contributor.author	Centelles, Diego
dc.contributor.author	Soriano Asensi, Antonio
dc.contributor.author	Martí, José Vicente
dc.contributor.author	Sanz, Pedro J.
dc.date.accessioned	2020-06-23T09:58:40Z
dc.date.available	2020-06-23T09:58:40Z
dc.date.issued	2020
dc.identifier.citation	Centelles, Diego Soriano Asensi, Antonio Martí, José Vicente Sanz, Pedro J. 2020 Underwater Multirobot Cooperative Intervention MAC Protocol Ieee Access 8 60867 60876
dc.identifier.uri	https://hdl.handle.net/10550/75169
dc.description.abstract	This work introduces a Medium Access Control (MAC) protocol designed to allow a group of underwater robots that share a wireless communication channel to effectively communicate with each other. The goal of the Underwater Multirobot Cooperative Intervention MAC (UMCI-MAC) protocol presented in this work is to minimize the end to end delay and the jitter. The access to the medium in UMCI-MAC follows a Time Division Multiple Access (TDMA) strategy which is arbitrated by a master, which also has the capability to prioritize the transmission of some nodes over the rest of the network. Two experiments have been carried out with a team of four Autonomous Underwater Vehicles (AUV) in order to compare this protocol with Aloha-CS and S-FAMA MAC protocols used in Underwater Wireless Sensor Networks (UWSN). In the first experiment, the communications and the AUVs have been simulated using UWSim-NET. The objective of this experiment was to evaluate all three protocols in terms of delay, jitter, efficiency, collisions and throughput depending on the size of the data packet and the rate of packet delivery in the application layer for each robot. The results of this experiment proved that UMCI-MAC successfully avoids packet collisions and outperforms the other two protocols in terms of delay, jitter and efficiency. The second experiment consisted of a Hardware In The Loop (HIL) teleoperation of a team of four robots. One of the AUVs was a real BlueROV in a water tank, while the remaining AUVs and the communications were simulated with UWSim-NET. It demonstrates the impact of the MAC protocols in underwater acoustic links. Of the three MAC protocols evaluated in this work, UMCI-MAC was the only one which succeeded in the proposed teleoperation experiment. Thus demonstrating its suitability as a communications protocol in underwater cooperative robotics.
dc.language.iso	eng
dc.relation.ispartof	Ieee Access, 2020, vol. 8, p. 60867-60876
dc.subject	Robots
dc.subject	Telecomunicació
dc.subject	Protocols de xarxes d'ordinadors
dc.title	Underwater Multirobot Cooperative Intervention MAC Protocol
dc.type	journal article	es_ES
dc.date.updated	2020-06-23T09:58:41Z
dc.identifier.doi	10.1109/ACCESS.2020.2983641
dc.identifier.idgrec	139993
dc.rights.accessRights	open access	es_ES