A mobile robots experimental environment with event-based wireless communication

María Guinaldo, Ernesto Fábregas, Gonzalo Farias, Sebastián Dormido-Canto, Dictino Chaos, José Sánchez, Sebastián Dormido

Research output: Contribution to journalArticlepeer-review

28 Scopus citations


An experimental platform to communicate between a set of mobile robots through a wireless network has been developed. The mobile robots get their position through a camera which performs as sensor. The video images are processed in a PC and a Waspmote card sends the corresponding position to each robot using the ZigBee standard. A distributed control algorithm based on event-triggered communications has been designed and implemented to bring the robots into the desired formation. Each robot communicates to its neighbors only at event times. Furthermore, a simulation tool has been developed to design and perform experiments with the system. An example of usage is presented.

Original languageEnglish
Pages (from-to)9396-9413
Number of pages18
JournalSensors (Switzerland)
Issue number7
StatePublished - Jul 2013


  • Distributed control systems
  • Embedded systems
  • Mobile robots
  • Multi-agent systems
  • Wireless communications


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