An interactive simulator for networked mobile robots

M. Guinaldo, G. Farias, E. Fabregas, J. Sánchez, S. Dormido-Canto, S. Dormido

Resultado de la investigación: Contribución a una revistaArtículorevisión exhaustiva

1 Cita (Scopus)

Resumen

This article presents an interactive simulator for formation control of wireless networked robots. The formation control is achieved thanks to the application of consensus algorithms of multi-agent systems which are executed in a distributed manner. Each vehicle sends to its neighbors the state, and they use this state to compute their control law. The agents communicate through a packet-based network. Different scheduling schemes are provided: time-based and event-based, with different event trigger functions. The user can configure the topology of the network, define delays in the communication links, packet-dropout rates or induce error in the transmission of the packets. The user can test the system in a large number of possible scenarios and interact with the simulation by just drag-and-drop actions. Four cases of study are provided to show some of the capabilities of the simulation tool.

Idioma originalInglés
Número de artículo6201211
Páginas (desde-hasta)14-20
Número de páginas7
PublicaciónIEEE Network
Volumen26
N.º3
DOI
EstadoPublicada - 2012
Publicado de forma externa

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