Active QoS Flow Maintenance in Controlled Mobile Networks
John D. Sweeney, Roderic A. Grupen, Prashant J. Shenoy · 2005
Abstract — Applications involving teams of mobile robots will require robots within the system to form connections to other members with certain quality of service (QoS) requirements. We present a distributed control architecture that allows robots participating in routing a QoS flow to maintain the required level of service while addressing secondary objectives. A distributed control system preserves global properties using “best-effort”, error-suppressing controllers. We outline a routing protocol that dynamically reconfigures a flow by recruiting neighboring robots if it believes a routing fault may occur. We evaluate the control architecture and dynamic configuration protocol in simulation, using the ns-2 network simulator and Player/Stage robot simulator platforms. I.