Committee: 

Dr. F. Zhang, Advisor  

Dr. Coogan, Chair

Dr. Bloch

Abstract:

The objective of the proposed research is to extend the B.A.T.M.A.N. routing protocol for mobile robotics applications through modifications to its routing metric and route selection rules. It's channel quality estimation process will be modified to incorporate stochastic data fusion of external data sources, employing the concept of outage probability as a new unifying routing metric. The results will be validated using a hybrid multi-robot simulation on an identified vehicle dynamics model of a flying robot from the Georgia Tech Systems Research lab, with all inter-agent communication emulated in real-time through virtualized networking software.