TTWiFi: Time-Triggered WiFi for Mobile Robotics in Human Environments

WiFi is a ubiquitous protocol, but exhibits flaws that become particularly critical for teams of robots in human environments. We demonstrate that our Time-Triggered WiFi (TTWiFi) protocol allows us to utilise the benefits of the hardware available in mobile robotic systems while ensuring resilience and bounded error detection in the time domain as required by teams of robots to make reliable real-time decisions. Our experiments demonstrate that TTWiFi performs equally well in static and mobile scenarios in retaining its resilience to interference.