Efficient map synchronization in ad hoc mobile robot networks for environment exploration

The motivation for this work is to develop a platform for a self-localization device. Such a platform has many applications for the autonomous maneuverable non-holonomic mobile robot classification, which can be used for search and rescue or for inspection devices where the robot has a desired path to follow but because of an unknown terrain, the device requires the ability to make ad-hoc corrections to its movement to reach its desire path. The mobile robot is modeled using Lagrangian d’Alembert’s principle considering all the possible inertias and forces generated, and are controlled by restraining movement based on the holonomic and non-holonomic constraints of the modeled vehicle. The device is controlled by a PD controller based on the vehicle’s holonomic and non-holonomic constraints. An experiment was setup to verify the modeling and control structure’s functionality and the initial results are promising.

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Achieving Connectivity through Coalescence in Mobile Robot Networks

The Proceedings of First International Conference on Robot Communication and Coordination ◽

10.4108/icst.robocomm2007.2272 ◽

2007 ◽

Cited By ~ 13

Author(s):

Sameera Poduri ◽

Gaurav S. Sukhatme Sukhatme

Keyword(s):

Mobile Robot ◽

Robot Networks

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ByeLab: An Agricultural Mobile Robot Prototype for Proximal Sensing and Precision Farming

Volume 4A: Dynamics, Vibration, and Control ◽

10.1115/imece2017-71216 ◽

2017 ◽

Cited By ~ 4

Author(s):

Renato Vidoni ◽

Raimondo Gallo ◽

Gianluca Ristorto ◽

Giovanni Carabin ◽

Fabrizio Mazzetto ◽

...

Keyword(s):

Health Status ◽

Mobile Robot ◽

Ad Hoc ◽

Experimental Tests ◽

Precision Farming ◽

Controlled Environment ◽

Mechatronic Systems ◽

Proximal Sensing ◽

Bionic Eye ◽

Outdoor Environments

At today, available mechatronics technology allows exploiting smart and precise sensors as well as embedded and effective mechatronic systems for developing (semi-)autonomous robotic platforms able to both navigate in different outdoor environments and implementing Precision Farming techniques. In this work, the experimental outdoor assessment of the performance of a mobile robotic lab, the ByeLab — Bionic eYe Laboratory — is presented and discussed. The ByeLab, developed at the Faculty of Science and Technology of the Free University of Bolzano (I), has been conceived with the aim of creating a (semi-)autonomous robotic system able to sense and monitor the health status of orchards and vineyards. For assessing and measuring the shape and the volume of the canopy, LIDAR technology coupled with ad-hoc developed algorithms have been exploited. To validate the ByeLab different experimental tests have been carried out. In addition to the in-lab and structured environments experimental tests that allowed to tune the algorithms, in this work the assessment of its capabilities — in particular the sensoric system — has been made outdoor controlled environment tests.

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