Communication Aspects of Multi-agent Unmanned Systems

Communications of un-manned systems are necessary for the systems to map an area and be able to decide how to maneuver around the environment in relation to each other and the map created. In the lab we are currently using robots to map an obstacle by sending wireless signals through the obstacle by measuring the attenuation of the signal being sent, then gathering that data to use for making a map of the environment. Simulation of sending data through a transmitter and receiver was created to show the communication between the robots. The simulation was designed in steps, first just with a transmit filter and receiver filter. Then a frequency offset and phase shift offset was added to describe how transmitter s and receivers may not be in synchronization when communicating and how it affects the bit error. Additive white Gaussian noise channel was then added to show the effect of noise on the system, and then a multipath channel was added to show the effect it applies on the system, which both create error. There are methods that can be used to reduce the error from a multipath channel and white noise that are being applied to the simulation.  Also, designed a unique mounting fixture for the antenna on the robot, by creating a CAD model, which is in the process of being fabricated. This fixture will be used with the addition of another robot in the lab in the future.