Fuzzy Decentralized Control for guidance of a convoy of robots in non-linear trajectories

Santos, Carlos; Espinosa, Felipe; Pizarro, Daniel; Valdes, F.; Santiso, Enrique; Diaz, Isabel

doi:10.1109/etfa.2010.5641175

Cited by 16 publications

(13 citation statements)

References 34 publications

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“…Cooperative guiding of autonomous vehicles is a clear real-time ITS application. A particular case of it is the guidance of transport units in convoy, where messages containing motion state must be delivered before global system stability is compromised [2]. This is the closest case to the system model analysed in this work.…”

Section: Ieee 80211p Limitationsmentioning

confidence: 99%

“…In addition, the control law of each follower demands knowledge of the motion state of the preceding unit. The spread of this information is critical, or in real-time as defined by ITS, as the loss of messages between vehicles could jeopardize the stability of the convoy chain [2]. On the other hand, in the problem of cooperative guidance, there is a possibility that vehicles can leave a convoy and decide to join a different one, which incorporates variability in their sizes.…”

Section: System Modelmentioning

confidence: 99%

“…The massive use of transportation vehicles in our society, and in particular of road transportation, has led to problems of congestion, pollution, and safety [1]. However, current advances in technology are steering the future of transport towards the intelligent transportation systems (ITS) and innovative cooperative transport alternatives [2,3].…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Cognitive Self-Organized TDMA for Medium Access Control in Real-Time Vehicle to Vehicle Communications

Manzano¹,

Espinosa²,

Bravo-Santos³

et al. 2013

Mathematical Problems in Engineering

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The emergence of intelligent transport systems has brought out a new set of requirements on wireless communication. To cope with these requirements, several proposals are currently under discussion. In this highly mobile environment, the design of a prompt, efficient, flexible, and reliable medium access control, able to cover the specific constraints of the named real-time communications applications, is still unsolved. This paper presents the original proposal integrating Non-Cooperative Cognitive Time Division Multiple Access (NCC-TDMA) based on Cognitive Radio (CR) techniques to obtain a mechanism which complies with the requirements of real-time communications. Though the proposed MAC uses a slotted channel, it can be adapted to operate on the physical layer of different standards. The authors’ analysis considers the IEEE WAVE and 802.11p as the standards of reference. The mechanism also offers other advantages, such as avoiding signalling and the adaptation capacity to channel conditions and interferences. The solution is applied to the problem of units merging a convoy. Comparison results between NCC-TDMA and Slotted-Aloha are included.

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Section: Ieee 80211p Limitationsmentioning

confidence: 99%

Section: System Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Dynamic Cognitive Self-Organized TDMA for Medium Access Control in Real-Time Vehicle to Vehicle Communications

Manzano¹,

Espinosa²,

Bravo-Santos³

et al. 2013

Mathematical Problems in Engineering

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“…Several research bodies and technology companies have demonstrated their proposals, including VisLab [11], IAI-CSIC, which has developed the AUTOPIA project [12], Google [13], and Bosch [14]. Consequently, ITS are considered a very important source of innovative ideas, projects, and applications, for example, those related to platooning guidance [15,16] or others related to more typical situations in ITS [17,18].…”

Section: Introductionmentioning

confidence: 99%

Cognitive Self-Scheduled Mechanism for Access Control in Noisy Vehicular Ad Hoc Networks

Manzano

Espinosa

Bravo-Santos

et al. 2015

Mathematical Problems in Engineering

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Within the challenging environment of intelligent transportation systems (ITS), networked control systems such as platooning guidance of autonomous vehicles require innovative mechanisms to provide real-time communications. Although several proposals are currently under discussion, the design of a rapid, efficient, flexible, and reliable medium access control mechanism which meets the specific constraints of such real-time communications applications remains unsolved in this highly dynamic environment. However, cognitive radio (CR) combines the capacity to sense the radio spectrum with the flexibility to adapt to transmission parameters in order to maximize system performance and has thus become an effective approach for the design of dynamic spectrum access (DSA) mechanisms. This paper presents the enhanced noncooperative cognitive division multiple access (ENCCMA) proposal combining time division multiple access (TDMA) and frequency division multiple access (FDMA) schemes with CR techniques to obtain a mechanism fulfilling the requirements of real-time communications. The analysis presented here considers the IEEE WAVE and 802.11p as reference standards; however, the proposed medium access control (MAC) mechanism can be adapted to operate on the physical layer of different standards. The mechanism also offers the advantage of avoiding signaling, thus enhancing system autonomy as well as behavior in adverse scenarios.

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“…Some of the authors of this paper have also designed control solutions for the remote control of a robotic unit [6] and for the guidance of robots platooning [2], [7], [16], [8], but always implemented with periodic sampling. However, in the context of robotics formation or applications based on robotics tele-operation is of foremost importance to minimize the computational load of the on-board electronics system of the mobile unit [9], [14], as well as to reduce the communications burden.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Self-triggered Control for Remote Operation of Wifi Linked Robots

Santos

Mazo

Santiso

et al. 2014

ROBOT2013: First Iberian Robotics Conference

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Abstract. We consider the problem of remotely operating an autonomous robot through a wireless communication channel. Our goal is to achieve a satisfactory tracking performance while reducing network usage. To attain this objective we implement a self-triggered strategy that adjusts the triggering condition to the observed tracking error. After the theoretical justification we present experimental results from the application of this adaptive self-triggered approach on a P3-DX mobile robot remotely controlled. The experiments show a relevant reduction on the generated network traffic compared to a periodic implementation and to a non-adaptive self-triggered approach, while the tracking performance is barely degraded.

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Fuzzy Decentralized Control for guidance of a convoy of robots in non-linear trajectories

Cited by 16 publications

References 34 publications

Dynamic Cognitive Self-Organized TDMA for Medium Access Control in Real-Time Vehicle to Vehicle Communications

Dynamic Cognitive Self-Organized TDMA for Medium Access Control in Real-Time Vehicle to Vehicle Communications

Cognitive Self-Scheduled Mechanism for Access Control in Noisy Vehicular Ad Hoc Networks

Adaptive Self-triggered Control for Remote Operation of Wifi Linked Robots

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