← 研踪 PaperTrailarXiv:2611.02131 · v1
Band-Separated Redundant Communication for a Mars-Analog Rover
首次提交 2026-11-02 03:06
版本更新 2026-11-02 03:06
雷达观测 2026-11-04 23:43
摘要
Teams in the University Rover Challenge (URC) drive their rovers remotely and often out of sight. The organizers name communication failure as the most common reason a team falls short. A rover therefore needs bandwidth for several camera views and a command path that survives the loss of one radio. We describe and field test the communication stack of the BRACU Mongol-Tori rover, which keeps vision and control on separate radios and bands. Video and RTK corrections travel over a 5.2 GHz bridge with a 2.4 GHz backup, and the Babel routing protocol chooses between them. Every command goes out on two sub-gigahertz radios at once, and the rover uses the backup copy only when the primary falls silent. We tested the backhaul on the bench with a power cut and injected packet loss. We also drove the rover more than a kilometer from the base, and line of sight ended about halfway. On the bench, traffic reached the backup within a few seconds. A metric offset kept it on a primary that lost one packet in ten. In the field, the primary failed at 771 m and the backup carried video and corrections to just over a kilometer. The drive also exposed a limit of Babel, which judges a link only by lost Hello messages. It kept traffic on a primary with a faulty receiver, although the backup reported twice the capacity, and it flapped at the edge of range. We close with lessons on antenna aiming, link metrics and logging.
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v1 · 2026-11-02 03:06 · 最新观测版本
Band-Separated Redundant Communication for a Mars-Analog Rover
Teams in the University Rover Challenge (URC) drive their rovers remotely and often out of sight. The organizers name communication failure as the most common reason a team falls short. A rover therefore needs bandwidth for several camera views and a command path that survives the loss of one radio. We describe and field test the communication stack of the BRACU Mongol-Tori rover, which keeps vision and control on separate radios and bands. Video and RTK corrections travel over a 5.2 GHz bridge with a 2.4 GHz backup, and the Babel routing protocol chooses between them. Every command goes out on two sub-gigahertz radios at once, and the rover uses the backup copy only when the primary falls silent. We tested the backhaul on the bench with a power cut and injected packet loss. We also drove the rover more than a kilometer from the base, and line of sight ended about halfway. On the bench, traffic reached the backup within a few seconds. A metric offset kept it on a primary that lost one packet in ten. In the field, the primary failed at 771 m and the backup carried video and corrections to just over a kilometer. The drive also exposed a limit of Babel, which judges a link only by lost Hello messages. It kept traffic on a primary with a faulty receiver, although the backup reported twice the capacity, and it flapped at the edge of range. We close with lessons on antenna aiming, link metrics and logging.
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