A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems
Author
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.
Department/s
Publishing year
2007
Language
English
Full text
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Document type
Conference paper
Topic
- Control Engineering
Keywords
- 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