ロボットアプリケーションにおける時間制約トラフィック向けハイブリッドTDMA/CSMAプロトコル
A Hybrid TDMA/CSMA Protocol for Time-Sensitive Traffic in Robot Applications
ロボット通信で標準的なCSMAが高負荷時に遅延・衝突で劣化する問題に対し、TDMAの決定論的スロットとCSMAの適応性を組み合わせたIEEE 802.11互換のハイブリッドプロトコルを提案し、SDR実験で低遅延・衝突なしの重要コマンド配送を実証した。
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著者: Shiqi Xu, Lihao Zhang, Yuyang Du, Qun Yang, Soung Chang Liew
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Recent progress in robotics has underscored the demand for real-time control in applications such as manufacturing, healthcare, and autonomous systems, where the timely delivery of mission-critical commands under heterogeneous robotic traffic is paramount for operational efficacy and safety. In these scenarios, mission-critical traffic follows a strict deadline-constrained communication pattern: commands must arrive within defined QoS deadlines, otherwise late arrivals can degrade performance or destabilize control loops.In this work, we demonstrate on a real-time SDR platform that CSMA, widely adopted in robotic communications,suffers severe degradation under high robot traffic loads, with contention-induced collisions and delays disrupting the on-time arrival of mission-critical packets. To address this problem, we propose an IEEE 802.11-compatible hybrid TDMA/CSMA protocol that combines TDMA's deterministic slot scheduling with CSMA's adaptability for heterogeneous robot traffic.The protocol achieves collision-free, low-latency mission-critical command delivery and IEEE 802.11 compatibility through the synergistic integration of sub-microsecond PTP-based slot synchronization-essential for establishing precise timing for TDMA, a three-session superframe with dynamic TDMA allocation for structured and adaptable traffic management,and beacon-NAV protection to preemptively secure these critical communication sessions from interference. Emulation experiments on real-time SDR testbed and Robot Operating System (ROS) simulation show that the proposed protocol reduces missed-deadline errors by 93% compared to the CSMA baseline. In high-speed robot path-tracking ROS simulations, the protocol lowers Root Mean Square (RMS) trajectory error by up to 90% compared with a CSMA baseline, all while maintaining throughput for non-critical traffic within +-2%.
