SSC Pacific
Communication Relays: ADCR Gen-3



The third-generation ADCR effort was a technology improvement internally funded by SSC Pacific’s Naval Innovative Science and Engineering (NISE) program during FY10-11. The radio hardware was replaced by commercial-off-the-shelf processor/router boards (GateWorks GW2350) and Mini PCI 802.11g radios. However, the most significant accomplishment from this effort was the switch to internally-developed ad hoc networking software targeting teleoperation.

Teleoperation of mobile robots requires unique network characteristics that are different from those for static nodes or autonomous robots, to include: minimal or no link-breakage, fast convergence to a new route after a link failure, and a higher throughput with low latency across multiple nodes to accommodate several video streams. We conducted comparisons of several open-source ad hoc networking architectures, picked the most promising architecture (Babel), and optimized it for the above requirements. We also started work on a new link-quality estimation technique. However, this work was interrupted by emergent in-theater requirements (which started the Manually Deployed Communication Relays project), and was finished later under the fourth-generation ADCR effort.

For further information, see:

  • Hart, A., Pezeshkian, N., and H. Nguyen, "Mesh networking optimized for robotic teleoperation", SPIE Proc. 8387: Unmanned Systems Technology XIV, Baltimore, MD, April 25-27, 2012. 
  • Pezeshkian, N., Neff, J.D., and A. Hart, "Link Quality Estimator for a Mobile Robot", 9th Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO 2012), Rome, Italy, July 28-31, 2012. 
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Updated: 7/15/2013 10:30 AM EST   Published (1.0)