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

Research output: Contribution to conferencePaper, not in proceeding

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.

Details

Authors
  • Peter Alriksson
  • Jerker Nordh
  • Karl-Erik Årzén
  • Antonio Bicchi
  • Alberto Danesi
  • Riccardo Sciadi
  • Lucia Pallottino
Organisations
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering

Keywords

  • localization, mobile agents, ultrasound, collision avoidance, extended Kalman filter, sensor network
Original languageEnglish
Publication statusPublished - 2007
Publication categoryResearch
Peer-reviewedYes
EventEuropean Control Conference, 2007: ECC´07 - Kos, Kos, Greece
Duration: 2007 Jul 22007 Jul 5

Conference

ConferenceEuropean Control Conference, 2007
CountryGreece
CityKos
Period2007/07/022007/07/05

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