ROMANO：一种用于机器人网络统一控制和感知的新型覆盖轻量级通信协议
ROMANO: A Novel Overlay Lightweight Communication Protocol for Unified Control and Sensing of a Network of Robots
摘要：
我们提出的机器人覆盖communicAtioN协议（ROMANO），一个轻量级的，应用层覆盖通信协议的异构机器人网络的统一传感和控制抽象主要包括低功耗，低计算能力的机器人。ROMANO被构建为与众所周知的MQ传感器节点遥测传输（MQTT-SN）协议结合使用，MQTT-SN协议是物联网的轻量级订阅通信协议，并利用其“主题”的概念来通过改变每个设备的主题订阅来指定通信端点的添加和删除。我们还开发了一个便携式实现的ROMANO低功耗IEEE 802.15.4（Zigbee）无线电，并部署在一个小型的测试平台上的商用，低功耗，低计算能力的机器人称为Pololu 3pi机器人。基于一个彻底的分析，在真正的测试平台上的协议，作为衡量吞吐量，我们证明，ROMANO可以保证超过$99.5\%$的消息传递率的消息生成速率高达每秒200条消息。ROMANO中的单跳延迟低至20 ms，与连接的机器人数量呈线性相关。这些延迟数字与802.15.4网络中的典型延迟一致，并表明ROMANO不会引入额外的延迟。最后，我们实现了四个不同的多机器人应用程序，以证明ROMANO的可扩展性，适应性，易于集成和可靠性。
英文摘要：
We present the Robotic Overlay coMmunicAtioN prOtocol (ROMANO), a lightweight, application layer overlay communication protocol for a unified sensing and control abstraction of a network of heterogeneous robots mainly consisting of low power, low-compute-capable robots. ROMANO is built to work in conjunction with the well-known MQ Telemetry Transport for Sensor Nodes (MQTT-SN) protocol, a lightweight publish-subscribe communication protocol for the Internet of Things and makes use its concept of "topics" to designate the addition and deletion of communication endpoints by changing the subscriptions of topics at each device. We also develop a portable implementation of ROMANO for low power IEEE 802.15.4 (Zigbee) radios and deployed it on a small testbed of commercially available, low-power, and low-compute-capable robots called Pololu 3pi robots. Based on a thorough analysis of the protocol on the real testbed, as a measure of throughput, we demonstrate that ROMANO can guarantee more than a $99.5\%$ message delivery ratio for a message generation rate up to 200 messages per second. The single hop delays in ROMANO are as low as 20ms with linear dependency on the number of robots connected. These delay numbers concur with typical delays in 802.15.4 networks and suggest that ROMANO does not introduce additional delays. Lastly, we implement four different multi-robot applications to demonstrate the scalability, adaptability, ease of integration, and reliability of ROMANO.
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