A component-based approach to localization and collision avoidance for mobile multi-agent systems

Author

Alriksson, P. ; Nordh, J. ; Arzen, K.-E. ; Bicchi, A. ; Danesi, A. ; Schiavi, R. ; Pallottino, L.

Author_Institution

Dept. of Autom. Control, Lund Univ., Lund, Sweden

fYear

2007

fDate

2-5 July 2007

Firstpage

4285

Lastpage

4292

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.

Keywords

collision avoidance; disasters; mobile robots; multi-agent systems; multi-robot systems; object-oriented programming; sensor placement; software engineering; telecommunication control; wireless sensor networks; RUNES project; collision avoidance component; component-based software development; dead reckoning; disaster relief tunnel scenario; localization component; mobile multiagent systems; mobile robots; radio network connectivity restoration; stationary sensor network; ultrasound; Cameras; Collision avoidance; Mobile robots; Robot kinematics; Robot sensing systems; Ultrasonic imaging;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2007 European

Conference_Location

Kos

Print_ISBN

978-3-9524173-8-6

Type

conf

Filename

7069050