A Bluetooth Scatternet for the Khepera Robot

Du JL, Witkowski U, Rückert U (2007)
In: 4th International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE). Buenos Aires, Argentina: 189-195.

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Radio-based communication plays a vital role in multi-robot systems. Bluetooth is an energy-efficient communication technology suited for resourcelimited mini-robots such as the Khepera. However, the maximum number of nodes in a Bluetooth piconet is limited, while scatternets - networks of piconets - have not been fully specified. In this paper we present a Bluetooth scatternet using Bluetooth communication sticks developed in our research group. In our solution, bridge nodes carrying two of such Bluetooth sticks are used to interconnect piconets. Beside the developed hardware, issues such as routing as well as topology control are addressed. Finally, data rate and latency measurements are presented for the implemented solution.
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Du JL, Witkowski U, Rückert U. A Bluetooth Scatternet for the Khepera Robot. In: 4th International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE). Buenos Aires, Argentina; 2007: 189-195.
Du, J. L., Witkowski, U., & Rückert, U. (2007). A Bluetooth Scatternet for the Khepera Robot. 4th International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE), 189-195.
Du, J. L., Witkowski, U., and Rückert, U. (2007). “A Bluetooth Scatternet for the Khepera Robot” in 4th International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) (Buenos Aires, Argentina), 189-195.
Du, J.L., Witkowski, U., & Rückert, U., 2007. A Bluetooth Scatternet for the Khepera Robot. In 4th International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE). Buenos Aires, Argentina, pp. 189-195.
J.L. Du, U. Witkowski, and U. Rückert, “A Bluetooth Scatternet for the Khepera Robot”, 4th International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE), Buenos Aires, Argentina: 2007, pp.189-195.
Du, J.L., Witkowski, U., Rückert, U.: A Bluetooth Scatternet for the Khepera Robot. 4th International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE). p. 189-195. Buenos Aires, Argentina (2007).
Du, Jia Lei, Witkowski, Ulf, and Rückert, Ulrich. “A Bluetooth Scatternet for the Khepera Robot”. 4th International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE). Buenos Aires, Argentina, 2007. 189-195.
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