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Dynamic Locomotion Conference Paper 2007

An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots

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Dynamic Locomotion, Haptic Intelligence
Alexander Badri-Spröwitz
Senior Research Scientist
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Autonomous Motion
Auke Ijspeert
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We present a Bluetooth scatternet protocol (SNP) that provides the user with a serial link to all connected members in a transparent wireless Bluetooth network. By using only local decision making we can reduce the overhead of our scatternet protocol dramatically. We show how our SNP software layer simplifies a variety of tasks like the synchronization of central pattern generator controllers for actuators, collecting sensory data and building modular robot structures. The whole Bluetooth software stack including our new scatternet layer is implemented on a single Bluetooth and memory chip. To verify and characterize the SNP we provide data from experiments using real hardware instead of software simulation. This gives a realistic overview of the scatternet performance showing higher order effects that are difficult to be simulated correctly and guaranties the correct function of the SNP in real world applications.

Author(s): Mockel, Rico and Spröwitz, Alexander and Maye, Jérôme and Ijspeert, Auke Jan
Book Title: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages: 2801--2806
Year: 2007
Publisher: IEEE
Bibtex Type: Conference Paper (inproceedings)
Address: San Diego, CA
DOI: 10.1109/IROS.2007.4399458
Electronic Archiving: grant_archive

BibTex 

@inproceedings{mockel_textunderscoreeasy_textunderscore2007,
  title = {An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots},
  booktitle = {Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  abstract = {We present a Bluetooth scatternet protocol (SNP) that provides the user with a serial link to all connected members in a transparent wireless Bluetooth network. By using only local decision making we can reduce the overhead of our scatternet protocol dramatically. We show how our SNP software layer simplifies a variety of tasks like the synchronization of central pattern generator controllers for actuators, collecting sensory data and building modular robot structures. The whole Bluetooth software stack including our new scatternet layer is implemented on a single Bluetooth and memory chip. To verify and characterize the SNP we provide data from experiments using real hardware instead of software simulation. This gives a realistic overview of the scatternet performance showing higher order effects that are difficult to be simulated correctly and guaranties the correct function of the SNP in real world applications.},
  pages = {2801--2806},
  publisher = {IEEE},
  address = {San Diego, CA},
  year = {2007},
  slug = {mockel_textunderscoreeasy_textunderscore2007},
  author = {Mockel, Rico and Spr{\"o}witz, Alexander and Maye, J\'er\^ome and Ijspeert, Auke Jan}
}