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A new calibration method for Inertial Measurement Unit (IMU) of strapdown inertial technology was presented. IMU has been composed of MEMS accelerometers, gyroscopes and a circuit of signal processing. Normally, a rate transfer test and multi-position tests are used for IMU calibration. The new calibration method is based on whole angle rotation or finite rotation. In fact it suggests to turn over...
A new calibration method for Inertial Measurement Unit (IMU) of strapdown inertial technology was presented. IMU has been composed of accelerometers, gyroscopes and a circuit of signal processing. Normally, a rate transfer test and multi-position tests are used for IMU calibration. The new calibration method is based on whole angle rotation or finite rotation. In fact it is suggested to turn over...
Various strategies and algorithms have been developed for control of autonomous agents in a fleet. Many of these approaches are interesting but have limited performances in environments where measurements are less accurate or faults occur. The main contribution of the paper consists in the design of a robust flocking algorithm with regards to the problem of defective agents. Our approach is based...
This paper concerns a distributed control approach of a fleet of Unmanned Aerial Vehicles (UAVs) based on a Leaderless strategy. The independent distributed particle swarm Optimization algorithms are used to develop this approach. The goal is to get a set of UAVs to fly on a 2D plane while converging to a predefined spatial configuration around a rendezvous point. The developed method would be applied...
This paper discusses the control strategies of a fleet of robots, especially the control by the virtual leader. The main contribution consists is to achieve the control of a group of vehicles while following a predefined mission carried out thanks to a virtual leader, and simultaneously avoiding the collisions between the different agents of the group. The approach proposed in this paper is based...
Service discovery is one of the most fundamental building blocks of self-organization. While mature approaches exist in the realm of fixed networks, they are not directly applicable in the context of MANETs. We investigate and compare two different protocols as basis for service discovery, namely OLSR and WCPD. OLSR is a proactive routing protocol while WCPD is a path discovery protocol integrating...
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