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

Publiceringsår: 2007
Språk: Engelska
Dokumenttyp: Konferensbidrag


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.



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


2007 European Control Conference
Kos, Greece

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
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Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
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