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To localize a mobile vehicle in a predefined area, it is possible to resort to a positioning system using beacons. The questions arising then are: what is the right number of beacons to deploy, and where should they be positioned to accurately localize the target. With a sensor placement algorithm, it is possible to generate a configuration of the beacons that optimize some quality criteria. However,...
In this paper, we study the problem of constructing a path for a mobile data collecting robot such that the total data collection cost (i.e., sum of transmission energy of the sensor nodes and movement energy of the robot) in a sensor network is minimized. We assume that the sensor nodes can transmit within a certain region around their position, which is called the communication set. We model the...
Obstacle avoidance and path planning are the most important problems in mobile robots. In this paper, a fuzzy logic controller has been constructed in order to train an intelligent robot. Gradient method is used to optimize consequences of a Sugeno fuzzy logic controller for the mobile robot navigation, in order to reach a target in a clutterd environment. Not only simulation results are shown in...
Consider an equal number of mobile robotic agents and distinct target locations dispersed in an environment. Each agent has a limited communication range and either: 1) knowledge of every target position or 2) a finite-range sensor capable of acquiring target positions and no apriori knowledge of target positions. In this paper we study the following target assignment problem: design a distributed...
Integrating autonomic computing concept into the behavior-based architecture enhances the abilities of mobile robots to operate in dynamically changing environment. The constraint-based behavior fusion mechanism provides a proper fusion solution for different behaviors and a unified entry point for autonomic computing components (ACC). This design philosophy distributes the responsibilities of task...
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