A Networked Multiagent System for Mobile Wireless Infrastructure on Demand

Miguel Calvo-Fullana; Mikhail Gerasimenko; Daniel Mox; Leopoldo Agorio; Mariana del Castillo; Vijay Kumar; Alejandro Ribeiro; Juan Andrés Bazerque

doi:10.1109/TRO.2024.3463493

A Networked Multiagent System for Mobile Wireless Infrastructure on Demand

Miguel Calvo-Fullana^*
, Mikhail Gerasimenko
, Daniel Mox
, Leopoldo Agorio
, Mariana del Castillo
, Vijay Kumar
, Alejandro Ribeiro
, Juan Andrés Bazerque

^*Corresponding author for this work

Electrical Engineering

Research output: Contribution to journal › Article › Scientific › peer-review

6 Citations (Scopus)

17 Downloads (Pure)

Abstract

Despite the prevalence of wireless connectivity in urban areas around the globe, there remain numerous and diverse situations where connectivity is insufficient or unavailable. To address this, we introduce mobile wireless infrastructure on demand, a system of unmanned aerial vehicles (UAVs) that can be rapidly deployed to establish an ad hoc wireless network. This network has the capability of reconfiguring itself dynamically to satisfy and maintain the required quality of communication. The system optimizes the positions of the UAVs and the routing of data flows throughout the network to achieve this Quality of Service (QoS). By these means, task agents using the network simply request a desired QoS, and the system adapts accordingly while allowing them to move freely. We have validated this system both in simulation and in real-world experiments. The results demonstrate that our system effectively offers mobile wireless infrastructure on demand, extending the operational range of task agents and supporting complex mobility patterns, all while ensuring connectivity and being resilient to agent failures.

Original language	English
Pages (from-to)	4598-4614
Number of pages	17
Journal	IEEE Transactions on Robotics
Volume	40
DOIs	https://doi.org/10.1109/TRO.2024.3463493
Publication status	Published - 2024
Publication type	A1 Journal article-refereed

Funding

This work was supported in part by IoT4Ag Engineering Research Center, National Science Foundation, under Grant EEC-1941529 and in part by the Agencia Estatal de Investigaci\u00F3n under Grant RYC2021-033549-I. This work was supported by the IoT4Ag Engineering Research Center funded by the National Science Foundation under Award EEC-1941529; and the Agencia Estatal de Investigaci\u00F3n under grant RYC2021-033549-I. M. Calvo-Fullana is with Universitat Pompeu Fabra, Barcelona, Spain (e-mail: [email protected]). M. Gerasimenko was with Tampere University, Tampere, Finland. He is now with Nokia, Finland. (e-mail: [email protected]). D. Mox was with University of Pennsylvania, Philadelphia, USA. He is now with Zoox, California, USA. (e-mail: [email protected]) L. Agorio and J. A. Bazerque are with University of Pittsburgh, Pittsburgh, USA (e-mail: {lca31,juanbazerque}@pitt.edu). M. del Castillo is with Universidad de la Rep\u00FAblica, Montevideo, Uruguay (e-mail: [email protected]). V. Kumar and A. Ribeiro are with University of Pennsylvania, Philadelphia, USA (e-mail: {kumar,aribeiro}@seas.upenn.edu).

Funders	Funder number
IoT4Ag Engineering Research Center
National Science Foundation	EEC-1941529
Agencia Estatal de Investigación	RYC2021-033549-I

Keywords

Aerial systems: applications
cooperating robots
multirobot systems
networked robots

Publication forum classification

Publication forum level 3

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/TRO.2024.3463493

A Networked Multi-Agent System for Mobile Wireless Infrastructure on Demand
This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited.
Accepted author manuscript, 3.78 MBLicence: Unspecified

https://urn.fi/URN:NBN:fi:tuni-202504153697Licence: Unspecified

Cite this

@article{8cbdcab3be5e4f42bae8b8b5f29fd1b9,

title = "A Networked Multiagent System for Mobile Wireless Infrastructure on Demand",

abstract = "Despite the prevalence of wireless connectivity in urban areas around the globe, there remain numerous and diverse situations where connectivity is insufficient or unavailable. To address this, we introduce mobile wireless infrastructure on demand, a system of unmanned aerial vehicles (UAVs) that can be rapidly deployed to establish an ad hoc wireless network. This network has the capability of reconfiguring itself dynamically to satisfy and maintain the required quality of communication. The system optimizes the positions of the UAVs and the routing of data flows throughout the network to achieve this Quality of Service (QoS). By these means, task agents using the network simply request a desired QoS, and the system adapts accordingly while allowing them to move freely. We have validated this system both in simulation and in real-world experiments. The results demonstrate that our system effectively offers mobile wireless infrastructure on demand, extending the operational range of task agents and supporting complex mobility patterns, all while ensuring connectivity and being resilient to agent failures.",

keywords = "Aerial systems: applications, cooperating robots, multirobot systems, networked robots",

author = "Miguel Calvo-Fullana and Mikhail Gerasimenko and Daniel Mox and Leopoldo Agorio and \{del Castillo\}, Mariana and Vijay Kumar and Alejandro Ribeiro and \{Andr{\'e}s Bazerque\}, Juan",

note = "Publisher Copyright: {\textcopyright} 2002-2012 IEEE.",

year = "2024",

doi = "10.1109/TRO.2024.3463493",

language = "English",

volume = "40",

pages = "4598--4614",

journal = "IEEE Transactions on Robotics",

issn = "1552-3098",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - A Networked Multiagent System for Mobile Wireless Infrastructure on Demand

AU - Calvo-Fullana, Miguel

AU - Gerasimenko, Mikhail

AU - Mox, Daniel

AU - Agorio, Leopoldo

AU - del Castillo, Mariana

AU - Kumar, Vijay

AU - Ribeiro, Alejandro

AU - Andrés Bazerque, Juan

PY - 2024

Y1 - 2024

N2 - Despite the prevalence of wireless connectivity in urban areas around the globe, there remain numerous and diverse situations where connectivity is insufficient or unavailable. To address this, we introduce mobile wireless infrastructure on demand, a system of unmanned aerial vehicles (UAVs) that can be rapidly deployed to establish an ad hoc wireless network. This network has the capability of reconfiguring itself dynamically to satisfy and maintain the required quality of communication. The system optimizes the positions of the UAVs and the routing of data flows throughout the network to achieve this Quality of Service (QoS). By these means, task agents using the network simply request a desired QoS, and the system adapts accordingly while allowing them to move freely. We have validated this system both in simulation and in real-world experiments. The results demonstrate that our system effectively offers mobile wireless infrastructure on demand, extending the operational range of task agents and supporting complex mobility patterns, all while ensuring connectivity and being resilient to agent failures.

AB - Despite the prevalence of wireless connectivity in urban areas around the globe, there remain numerous and diverse situations where connectivity is insufficient or unavailable. To address this, we introduce mobile wireless infrastructure on demand, a system of unmanned aerial vehicles (UAVs) that can be rapidly deployed to establish an ad hoc wireless network. This network has the capability of reconfiguring itself dynamically to satisfy and maintain the required quality of communication. The system optimizes the positions of the UAVs and the routing of data flows throughout the network to achieve this Quality of Service (QoS). By these means, task agents using the network simply request a desired QoS, and the system adapts accordingly while allowing them to move freely. We have validated this system both in simulation and in real-world experiments. The results demonstrate that our system effectively offers mobile wireless infrastructure on demand, extending the operational range of task agents and supporting complex mobility patterns, all while ensuring connectivity and being resilient to agent failures.

KW - Aerial systems: applications

KW - cooperating robots

KW - multirobot systems

KW - networked robots

U2 - 10.1109/TRO.2024.3463493

DO - 10.1109/TRO.2024.3463493

M3 - Article

AN - SCOPUS:85204432736

SN - 1552-3098

VL - 40

SP - 4598

EP - 4614

JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

ER -

A Networked Multiagent System for Mobile Wireless Infrastructure on Demand

Abstract

Funding

Keywords

Publication forum classification

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this