Method and system for communication link prediction in distributed robotic networks

Patent metadata

Field	Value
Publication number	US-10425954-B2
Application number	US-201815866761-A
Country	US
Kind code	B2
Filing date	Jan 10, 2018
Priority date	Jan 25, 2017
Publication date	Sep 24, 2019
Grant date	Sep 24, 2019

Abstract

This disclosure relates generally to distributed robotic networks, and more particularly to communication link-prediction in the distributed robotic networks. In one embodiment, robots in a robotic network, which are mobile, can establish communication with a cloud network through a fog node, wherein the fog node is a static node. A robot can directly communicate with a fog node (R2F) if the fog node is in the communication range of the robot. If there is no fog node in the communication range of the robot, then the robot can establish communication with another robot (R2R) and indirectly communicate with the fog node through the connected robot. Communication link prediction is used to identify one or more communication links that can be used by a robot for establishing communication with the cloud network. A link that satisfies requirements in terms of link quality and any other parameter is used for communication purpose.

First claim

What is claimed is:

1. A method for establishing communication in a distributed robotic network, said method comprising:
transmitting a beacon signal by a robot from a plurality of robots in the distributed robotic network, wherein the distributed robotic network comprises a cloud network, a plurality of fog nodes, and the plurality of robots, wherein the distributed robotic network is dynamic in nature and the plurality of robots move around and change their location, and each fog node is configured to communicate with the plurality of robots in its own transmission range forming a cluster of robots, wherein forming the cluster is dynamic as the plurality of robots are mobile thereby moving in or out of the transmission range of the fog node, wherein the fog node is a static node deployed in an area intended to establish communication between the plurality of robots and the cloud network;
collecting a response to the beacon signal, from at least one node of the distributed robotic network, by the robot, wherein the at least one node is a fog node or a robot;
dynamically determining a link quality with the at least one node from which the response was collected, by the robot, wherein the link quality is measured in terms of a Received Signal Strength Indicator (RSSI) with the at least one node, and wherein using the RSSI, signal power received by a robot ‘j’ transmitted by a robot ‘i’ is measured as:

P
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i
,
j

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P
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0

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n
p

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10

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D

i
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j

c

d
0

 where {acute over (P)} 0 is received power (in dBm) at a reference distance d0 from a fog node or a robot within the cluster, n p is the path loss exponent, wherein Path length D i,j c among robots i and j for communication range is given as:

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;

selecting the at least one node if the at least one node satisfies at least one requirement in terms of link quality, based on the determined link quality of the at least one node, by the robot;
establishing communication with the selected at least one node, by the robot; and
establishing data transmission with the cloud network of the distributed robotic network, through the selected at least one node, by the robot.

2. The method as claimed in claim 1 , wherein a Collaborative Robotic Link Prediction (CRLP) mechanism is executed to identify the communication links among robot pairs and to determine the link quality among the robot pairs.

3. The method as claimed in claim 1 , wherein establishing a data transmission comprises:
establishing a connection with the fog node of the distributed robotic network, by the robot, if the determined link quality with the fog node meets a threshold value of link quality; and
establishing a connection with the fog node through another robot of the distributed robotic network, by the robot, if the determined link quality with the fog node does not meet the threshold value of link quality, wherein the determined link quality with the another robot meets the threshold value of link quality.

4. A distributed robotic network, comprising:
a cloud network;
a plurality of fog nodes; and
a plurality of robots, wherein the distributed robotic network is dynamic in nature and the plurality of robots move around and change their location, and each fog node is configured to communicate with the plurality of robots in its own transmission range forming a cluster of robots, wherein forming the cluster is dynamic as the plurality of robots are mobile thereby moving in or out of the transmission range of the fog node, wherein the fog node is a static node deployed in an area, intended to establish communication between the plurality of robots and the cloud network, and wherein each robot of the plurality of robots comprises:
a hardware processor; and
a storage medium comprising a plurality of instructions, said plurality of instructions causing the hardware processor to:
transmit a beacon signal by a robot in the distributed robotic network;
collect a response to the beacon signal, from at least one node of the distributed robotic network, by the robot, wherein the one node is a fog node or a robot;
dynamically determine a link quality with the at least one node from which the response was collected, by the robot, wherein the link quality is measured in terms of a Received Signal Strength Indicator (RSSI) with the at least one node, and wherein using the RSSI, signal power received by a robot T transmitted by a robot ‘i’ is measured as:

P
′

i
,
j

=

P
′

0

-

10
⁢

n
p

⁢

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log
10

⁢

Assignees

• Tata Consultancy Services Ltd

Inventors

• Karjee Jyotirmoy
• Behera Sipra
• Rath Hemant Kumar
• Simha Anantha

Classifications

• H04W72/542 Primary

  using measured or perceived quality · CPC title

• H04W8/005

  Discovery of network devices, e.g. terminals · CPC title

• H04W4/70

  Services for machine-to-machine communication [M2M] or machine type communication [MTC] · CPC title

• H04W84/22

  with access to wired networks · CPC title

• H04W48/20 Primary

  Selecting an access point · CPC title