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A Mobile Robots Experimental Environment with Event-Based Wireless Communication
Department of Computer Science and Automatic Control, UNED, Juan del Rosal 16, Madrid 28040, Spain
School of Electrical Engineering, Pontificia Universidad Católica de Valparaiso, Av. Brasil 2147, Valparaiso, Chile
* Author to whom correspondence should be addressed.
Received: 15 May 2013; in revised form: 12 July 2013 / Accepted: 18 July 2013 / Published: 22 July 2013
Abstract: An experimental platform to communicate between a set of mobile robots through a wireless network has been developed. The mobile robots get their position through a camera which performs as sensor. The video images are processed in a PC and a Waspmote card sends the corresponding position to each robot using the ZigBee standard. A distributed control algorithm based on event-triggered communications has been designed and implemented to bring the robots into the desired formation. Each robot communicates to its neighbors only at event times. Furthermore, a simulation tool has been developed to design and perform experiments with the system. An example of usage is presented.
Keywords: distributed control systems; mobile robots; multi-agent systems; wireless communications; embedded systems
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Guinaldo, M.; Fábregas, E.; Farias, G.; Dormido-Canto, S.; Chaos, D.; Sánchez, J.; Dormido, S. A Mobile Robots Experimental Environment with Event-Based Wireless Communication. Sensors 2013, 13, 9396-9413.
Guinaldo M, Fábregas E, Farias G, Dormido-Canto S, Chaos D, Sánchez J, Dormido S. A Mobile Robots Experimental Environment with Event-Based Wireless Communication. Sensors. 2013; 13(7):9396-9413.
Guinaldo, María; Fábregas, Ernesto; Farias, Gonzalo; Dormido-Canto, Sebastián; Chaos, Dictino; Sánchez, José; Dormido, Sebastián. 2013. "A Mobile Robots Experimental Environment with Event-Based Wireless Communication." Sensors 13, no. 7: 9396-9413.