Wireless Control of Mobile Robot Squad with Link Failure

This paper deals with control during breaking communications. We specifically examine the breaks of communication due to mobility in a wireless multihop robot control system. We compare the applicability of singlepath and multipath routing protocols without and with priorization for control of mobile robots. We investigate the performance and recovery of a wireless network with high mobility. The issue is also looked at from the control point, where two packet-loss-robust control methods are employed. The issue of control during link break with long recovery is considered. The matters are demonstrated with a joint control and communication simulator, PiccSIM, as a scenario of a mobile robot squad is demonstrated.