title: A mobile robots experimental environment with event-based wireless communication.
abstract: 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.
authors.affiliation: Department of Computer Science and Automatic Control, UNED, Madrid 28040, Spain. mguinaldo@dia.uned.es
authors.forename: María
authors.initials: M
authors.lastname: Guinaldo
authors.forename: Ernesto
authors.initials: E
authors.lastname: Fábregas
authors.forename: Gonzalo
authors.initials: G
authors.lastname: Farias
authors.forename: Sebastián
authors.initials: S
authors.lastname: Dormido-Canto
authors.forename: Dictino
authors.initials: D
authors.lastname: Chaos
authors.forename: José
authors.initials: J
authors.lastname: Sánchez
authors.forename: Sebastián
authors.initials: S
authors.lastname: Dormido