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tdma-based dual-mode communication for mobile wireless sensor networkstdma双模移动无线传感器网络通信
Sensors 2012, 12, 16194-16210; doi:10.3390/s121216194 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article TDMA-Based Dual-Mode Communication for Mobile Wireless Sensor Networks Ankur Mehta *, Branko Kerkez , Steven D. Glaser and Kristofer S. J. Pister Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA; E-Mail: pister@ Department of Civil and Environmental Engineering, UC Berkeley, Berkeley, CA 94720, USA; E-Mails: bkerkez@ (B.K.); glaser@ (S.D.G.) * Author to whom correspondence should be addressed; E-Mail: mehtank@; Tel.: +1-510-643-6690. Received: 3 September 2012; in revised form: 2 November 2012 / Accepted: 9 November 2012 / Published: 22 November 2012 Abstract: Small highly mobile robots, and in particular micro air vehicles (MAVs), are well suited to the task of exploring unknown indoor environments such as buildings and caves. Such a task imposes a number of requirements on the underlying communication infrastructure, with differing goals during various stages of the mission. This work addresses those requirements with a hybrid communications infrastructure consisting of a stationary mesh network along with the mobile nodes. The combined network operates in two independent modes, coupling a highly efficient, low duty cycle, low throughput mode for routing and persistent sensing with a burst mode for high data rate communication. By strategically distributing available frequency channels between the mobile agents and the stationary
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