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Sensors 2013, 13(7), 9396-9413; doi:10.3390/s130709396
Article

A Mobile Robots Experimental Environment with Event-Based Wireless Communication

1,* , 1
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2
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1 Department of Computer Science and Automatic Control, UNED, Juan del Rosal 16, Madrid 28040, Spain 2 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 / Revised: 12 July 2013 / Accepted: 18 July 2013 / Published: 22 July 2013
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2013)
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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 distributed control systems; mobile robots; multi-agent systems; wireless communications; embedded systems
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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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.

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