A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems
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.
- Control Engineering
- mobile agents
- collision avoidance
- extended Kalman filter
- sensor network
European Control Conference, 2007