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

Peter Alriksson; Jerker Nordh; Karl-Erik Årzén; Antonio Bicchi; Alberto Danesi; Riccardo Sciadi; Lucia Pallottino

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

Peter Alriksson, Jerker Nordh, Karl-Erik Årzén, Antonio Bicchi, Alberto Danesi, Riccardo Sciadi, Lucia Pallottino

Department of Automatic Control

Research output: Contribution to conference › Paper, not in proceeding › peer-review

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Abstract

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.

Original language	English
Publication status	Published - 2007
Event	European Control Conference, 2007: ECC´07 - Kos, Kos, Greece Duration: 2007 Jul 2 → 2007 Jul 5

Conference

Conference	European Control Conference, 2007
Country/Territory	Greece
City	Kos
Period	2007/07/02 → 2007/07/05

Subject classification (UKÄ)

Control Engineering

Free keywords

localization
mobile agents
ultrasound
collision avoidance
extended Kalman filter
sensor network

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alriksson_ecc07

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@conference{201d9c151aa748b3a89c5589efd887b6,

title = "A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems",

abstract = "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.",

keywords = "localization, mobile agents, ultrasound, collision avoidance, extended Kalman filter, sensor network",

author = "Peter Alriksson and Jerker Nordh and Karl-Erik {\AA}rz{\'e}n and Antonio Bicchi and Alberto Danesi and Riccardo Sciadi and Lucia Pallottino",

year = "2007",

language = "English",

note = "European Control Conference, 2007 : ECC´07 ; Conference date: 02-07-2007 Through 05-07-2007",

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TY - CONF

T1 - A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems

AU - Alriksson, Peter

AU - Nordh, Jerker

AU - Årzén, Karl-Erik

AU - Bicchi, Antonio

AU - Danesi, Alberto

AU - Sciadi, Riccardo

AU - Pallottino, Lucia

PY - 2007

Y1 - 2007

N2 - 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.

AB - 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.

KW - localization

KW - mobile agents

KW - ultrasound

KW - collision avoidance

KW - extended Kalman filter

KW - sensor network

M3 - Paper, not in proceeding

T2 - European Control Conference, 2007

Y2 - 2 July 2007 through 5 July 2007

ER -

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

Abstract

Conference

Subject classification (UKÄ)

Free keywords

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