Distributed Channel Assignment Using a Modified ALOHA Protocol

Abstract

In this thesis, we propose a distributed channel assignment algorithm for multi-agent robotic systems using infrared LEDs for local positioning and communication. Specifically, we look at a modification of the ALOHA Medium Access Control protocol which is then tested on static and mobile agents under various dynamics. This positioning and communication system is similar to one proposed in [13]. The purpose of the local positioning and communication system is to reduce the infrastructure required for experiments involving robotic swarms and to increase the number of agents that can be involved in these experiments.