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

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.