NDLI: A distributed architecture for mobile robots coordination

Content Provider	IEEE Xplore Digital Library
Author	Franchino, G. Buttazzo, G. Facchinetti, T.
Copyright Year	2005
Description	Author affiliation: Pavia Univ. (Franchino, G.; Buttazzo, G.; Facchinetti, T.)
Abstract	In many application fields, such as surveillance, monitoring, exploration, and rescuing, the use of multiple coordinated robot units seems to be the most convenient solution, in terms of costs, performance, and efficiency. In this paper we present a distributed real-time architecture for coordinating a set of mobile robot that have to operate according to a common objective. The interaction with the environment causes each unit to operate under real-time constraints, which are enforced by the operating system to achieve a desired level of performance. The design of the architecture has been focused on three main aspects: real-time communication, modularity, and flexibility. The last two aspects are essential in a distributed environment to simplify maintenance and system upgrades. The proposed approach has been implemented on a team of six robot vehicles, equipped with proximity and light sensors that can operate according to predefined formations
Starting Page	8
Ending Page	156
File Size	2238203
Page Count	149
File Format	PDF
ISBN	0780394011
DOI	10.1109/ETFA.2005.1612674
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-09-19
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot kinematics Robotics and automation Real time systems Mobile communication Navigation Costs Robot localization Contracts Robot control
Content Type	Text
Resource Type	Article

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