A Study of Wireless Communications Systems for Robotic Communications in Underground Pipes and Ducts

Both the water and telecommunications sectors in the UK have an extensive pipe and duct network that has evolved over the last hundred years. Any given section of these networks is likely to be made from vitrified clay, cast iron or different types of plastic. In the Pipebots project, we are investigating robots that can inspect and, where possible, unblock or repair the pipes in-situ, with the aim of dramatically reducing the need for excavation works. This would require robots with the ability to wirelessly communicate with one another, as well as with the outside world, to realise the vision of an autonomous, cooperative swarm that continuously monitors, reports on, and repairs the pipes and ducts from within. The pipe environments in which the robots will operate vary significantly and this requires a custom solution that incorporates more than one method of communication. This paper describes the results of a study of the trade-off between data transmission bandwidth and Size, Weight, and Power (SWaP) requirements for acoustic, RF and optical communications systems.