communication aspects of multi-agent unmanned...

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IntroductionIn Dr. Yasamin Mostofi’s Lab, robots are used to

map an area, including hidden obstacles. This is

done using wireless communications. The goal

is to simulate a transmitter and receiver and

theoretical communication between them to

understand how the robots communicate and

design custom parts for future use on robots.

Materials and methods

AcknowledgmentsFaculty Advisor: Dr. Yasamin Mostofi

Mentor: Saandeep Depatla

INSET Faculty

The National Science Foundation

ResultsData from simulation:

No noise, phase shift of π/2 and frequency

offset 1/25T gave me an error of 51% error in

data sent through the system.

Multipath channel of 4 taps created an error in

data received in a simulation by 49%.

With Gaussian white noise (SNR=15dB) error in

data received in a simulation was 43%.

Measurements acquired from antenna mount on

other robot and applying to CAD designs.

ConclusionsGot experience in lab procedures by

understanding why they are required for the

experiment, and also in gathering data.

To simulate the communication of a transmitter

and receiver, Matlab was used, which is a useful

software in engineering that can be used for

simulation of systems by adding features to the

simulation to see what would occur, like phase

shift and frequency offset to a system with no

noise created error in data. Adding Gaussian

white noise, multipath channel created error in

the data being received from the transmitter.

Also completed the custom design of the

antenna mount.

Designed an antenna mount like the one in the

image seen on another robot.

This is the CAD design created using Autocad,

from two dimensional measurements and

designs.

Jeffry SalazarDepartment of Electrical and Computer Engineering, UCSB, Santa Barbara, CA 93106

Future GoalsI am currently still working on employing

simulation methods of reducing error.

Fabrication of the specialty antenna mount for

use on a robot.

Communication Aspects of Multi-agent Unmanned Systems

Transmitter

Router

Network Analyzer

•Measuring the drop in signal strength

Obstacle

Object

or

Receiver

Path

s o

f tr

ansm

it r

obot

Path

s o

f receiv

e ro

bot

Transmit Signal

•Multiple angles and paths

•Matlab used for simulation of

communication and Autocad used

for designing the antenna mount