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A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems

In English

Författare

  • Peter Alriksson
  • Jerker Nordh
  • Karl-Erik Årzén
  • Antonio Bicchi
  • Alberto Danesi
  • Riccardo Sciadi
  • Lucia Pallottino

Summary, in English

In the RUNES project a disaster relief tunnel scenario is being developed in which mobile robots are used to restore the radio network connectivity in a stationary sensor network. A component-based software development approach has been adopted. Two components are described in this paper. A localization component that uses ultrasound and dead reckoning to decide the robot positions and a collision avoidance component that ensures that the robots do not collide with each other or with fixed obstacles.

Publiceringsår

2007

Språk

Engelska

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Nyckelord

  • localization
  • mobile agents
  • ultrasound
  • collision avoidance
  • extended Kalman filter
  • sensor network

Conference name

European Control Conference, 2007

Conference date

2007-07-02 - 2007-07-05

Conference place

Kos, Greece

Status

Published