公开(公告)号：US20170227961A1

公开(公告)日：2017-08-10

申请号：US15019312

申请日：2016-02-09

Applicant: KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS

Inventor： Uthman BAROUDI ,  Gamal SALLAM

IPC: G05D1/00 ,  H04W4/00 ,  H04L29/08 ,  G05D1/02

CPC classification number: G05D1/0088 ,  G05D1/0287 ,  H04L67/12 ,  H04W4/80 ,  Y10S901/01 ,  Y10S901/08

Abstract: A method and cooperative system for deploying a mobile robot of a plurality of mobile robots with a plurality of fixed sensors. The method includes broadcasting a position-request message including a request for a position and a demand for mobile robots, receiving the position-request message, and transmitting a position-demand message. The method also includes receiving position-demand messages from corresponding fixed sensors, determining a distance to the corresponding fixed sensors, storing information for the corresponding fixed sensor in a fixed sensor list when the distance to the corresponding fixed sensor is less than a predetermined distance, determining a closest fixed sensor, transmitting an association request message to the closest fixed sensor, receiving the association request message, and transmitting a confirmation message when the demand of the closest fixed sensor is not equal to zero or a rejection message when the demand of the closest fixed sensor is equal to zero.