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We present implementation and experimental results of an Unmanned Ground Vehicle (UGV) navigation in a coordinate-free Wireless Sensor and Actuator Network (WSAN) environment. The UGV communicates with the network of sensors and actuators and receives the real-time feedback from the network, which navigates the UGV towards target(s). The control objective is to navigate the UGV towards fixed targets...
We present a distributed algorithm for the navigation of an Unmanned Ground Vehicle (UGV) towards a set of identified target nodes in coordinate-free and localization-free wireless sensor and actuator networks. The navigation algorithm proceeds in two phases: first, a node level is determined based on a hop distance from the target nodes, which is accomplished by the network nodes without the need...
In this paper, we present an algorithm for navigating an unmanned ground vehicle (UGV) through coordinate-free Wireless Sensor and Actuator Networks. The navigation algorithm proceeds in two phases. In the first phase, for each node in the sensor network we compute a hop-level distance from the target node, which indicates the number of communication hops between the node and any destination nodes...
The Wireless Sensor and Actuator Networks (WSAN's), defines collaborative operations between the sensors and the actuators, enabling distributed sensing of a physical phenomenon. In this paper, an integrated testbed consisted of wireless sensor network, server station and robot system is proposed. Our main contribution is in the design and development of the server and actuator tier software modules...
There is a growing interest in building Internet-scale sensor networks that integrate sensors from around the world into a single unified system. In contrast, robotics application development has primarily focused on building specialized systems. These specialized systems take scalability and reliability into consideration, but generally neglect exploring the key components required to build a large...
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