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

Författare:
  • Peter Alriksson
  • Jerker Nordh
  • Karl-Erik Årzén
  • Antonio Bicchi
  • Alberto Danesi
  • Riccardo Sciadi
  • Lucia Pallottino
Publiceringsår: 2007
Språk: Engelska
Dokumenttyp: Konferensbidrag

Sammanfattning

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.

Nyckelord

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

Övriga

European Control Conference, 2007
Published

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