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The formation control technique called cluster space control promotes simplified specification and monitoring of the motion of mobile multirobot systems of limited size. Previous paper has established the conceptual foundation of this approach and has experimentally verified and validated its use for various systems implementing kinematic controllers. In this paper, we briefly review the definition...
In order to fulfill the mission, the search and rescue system must be able to locate the victims quickly and reliably. Current search and rescue approaches generally rely on either teleportation robots, or teams of wireless robots. The advent of Wireless Sensor Network (WSN) technologies is paving the way for a panoply of new ubiquitous computing applications. We present an approach utilizing Robotic...
Hybrid sensor networks consisting of both in-expensive static wireless sensors and highly capable mobile robots have the potential to monitor large environments at a low cost. To do so, an algorithm is needed to assign tasks to mobile robots which minimizes communication among the static sensors in order to extend the lifetime of the network. We present three algorithms to solve this task allocation...
In order to monitor the leakage of hazardous chemicals and guarantee the safety of people in hazardous areas, we developed RESRS (Robot Emergency Search and Rescue System). RESRS integrated technologies such as mobile robot and WSN (Wireless Sensor Network). The mobile robots in the system act as mobile nodes of WSN. We describe the components of the generic RESRS's architecture in detail. A small-scale...
CAESRS (Chemical Accident Emergency Search and Rescue System) was developed for the use of monitoring the leakage of hazardous chemicals and guaranteeing the safety of people in hazardous areas. Technologies such as WSN (wireless sensor network) and mobile robot need to be integrated to build up CAESRS. We describe the components of the generic CAESRS's architecture in detail. A small-scale demonstration...
As sensor technology advances, the availability of high resolution data and complex sensor readings become more commonplace, and the range of potential sensor network applications, accuracy, and data collection efforts expands. As a result, there is an increased need for tiered sensor network architectures and energy efficient data collection mechanisms in order to maintain network feasibility and...
In this paper, we present our autonomous mobile robotic system for surveillance of indoor environments. The robot is equipped with a monocular camera, a laser scanner, encoders, and an RFID device, connected to a multi-layer decision and control scheme. Two main functions are implemented: to build a map of the environment, identifying specific areas of interest, marked by RFID tags; to monitor the...
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