NDLI: A self-configuring MANET for coverage area adaptation through kinematic control of a platoon of mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Antonelli, G. Arrichiello, F. Chiaverini, S. Setola, R.
Copyright Year	2005
Description	Author affiliation: Dipt. di Automazione, Elettromagnetismo Ingegneria dell'Informazione e Matematica Industriale, Universita degli Studi di Cassino, Italy (Antonelli, G.; Arrichiello, F.; Chiaverini, S.)
Abstract	This paper investigates the implementation of a wireless mobile ad-hoc network to guarantee that an autonomously driven mobile vehicle remains connected to a limited-coverage base antenna during its motion. To the purpose, the use of a platoon of mobile robots is proposed to carry a number of repeater antennas; these must be suitably moved to dynamically ensure a multi-hop communication link to the vehicle that extends outside the area covered by the sole base antenna. Self configuration of the robots' platoon is then achieved by a singularity-robust task-priority inverse kinematics algorithm via the definition of suitable task functions. The obtained simulation results show the effectiveness of the proposed approach.
Starting Page	1332
Ending Page	1337
File Size	180898
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545160
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile ad hoc networks Kinematics Mobile robots Mobile antennas Remotely operated vehicles Ad hoc networks Vehicle driving Repeaters Spread spectrum communication Mobile communication Inverse Kinematics Techniques Mobile Ad-hoc NETworks (MANETs) Coverage Area Adaptation Multi-Robot Systems Mobile Robots Motion and Path Planning
Content Type	Text
Resource Type	Article

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