Real-world robot networks create hostile radio environments due to their highly dynamic communication topologies and stringent real-time transmission requirements. In this article, we propose improvements to contention-based networks that utilize inter-robot navigation information for safer robot motion control in dense multi-robot settings. Toward this end, we introduce a Crash Risk Prioritization (CRP) index, which is employed as the core metric in a scheme of dynamic beacon rate control. Key to our approach is a coupled evaluation setup that allows us to evaluate the impact of network-level changes on the safety of robot navigation. Our results demonstrate that the co-design and simulation of robotic control algorithms and network protocols provide key insights and metrics into the network-level requirements for V2V systems. These insights allow us to make informed conclusions about how such networks can be best served by emerging standards.

中文翻译：

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改进802.11p以在机器人到机器人通信网络中传递安全关键的导航信息

现实中的机器人网络由于其高度动态的通信拓扑结构和严格的实时传输要求而创建了不利的无线电环境。在本文中，我们提出了基于竞争的网络的改进，该网络利用机器人之间的导航信息在密集的多机器人环境中进行更安全的机器人运动控制。为此，我们引入了崩溃风险优先级（CRP）索引，该索引被用作动态信标速率控制方案中的核心指标。我们方法的关键是耦合评估设置，该评估设置使我们能够评估网络级更改对机器人导航安全性的影响。我们的结果表明，机器人控制算法和网络协议的共同设计和仿真为V2V系统的网络级需求提供了重要的见解和指标。