A Cooperative Heterogeneous Mobile Wireless Mechatronic System

被引:50
作者
Bezzo, Nicola [1 ]
Griffin, Brian [2 ]
Cruz, Patricio [1 ]
Donahue, John [3 ]
Fierro, Rafael [1 ]
Wood, John [4 ]
机构
[1] Univ New Mexico, Dept Elect & Comp Engn, MultiAgent Robot Hybrid & Embedded Syst MARHES La, Albuquerque, NM 87131 USA
[2] Northrop Grumman Informat Syst, Falls Church, VA 22042 USA
[3] CAaNES LLC, Albuquerque, NM 87109 USA
[4] Univ New Mexico, Dept Mech Engn, Albuquerque, NM 87131 USA
基金
美国国家科学基金会;
关键词
Aerial robotics; cooperative systems; distributed control; mobile routers; multiagent systems; STABILITY;
D O I
10.1109/TMECH.2012.2218254
中图分类号
TP [自动化技术、计算机技术];
学科分类号
080201 [机械制造及其自动化];
摘要
This paper describes a framework for controlling a heterogeneous wireless robotic network consisting of aerial and ground vehicles. By use of the term heterogeneous, we imply the synergy of multiple robotic platforms characterized by different dynamics and specialized sensing capabilities. Two main scenarios concerning wireless communications are presented: 1) a decentralized connectivity strategy in which a mesh of ground mobile routers swarms in a cluttered environment maintaining communication constraints based on spring-mass virtual physics, potential functions, and routing optimization and 2) an autonomous communications relay in GPS-denied environments via antenna diversity and extremum-seeking SNR optimization. For both scenarios, we validate the proposed methodologies by numerical simulations and experiments. One important feature of our test bed is that it can be used for both indoor and outdoor operations.
引用
收藏
页码:20 / 31
页数:12
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