Proceedings of Tenth International Symposium on Intelligent Control

DOI: 10.1109/isic.1995.525075

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Sensor-based distributed control scheme for mobile robots

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Alyosha A. Efros

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Cited by 3 publications

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“…Figure 3 shows the LABMATE with its equipment. Simulation results and detailed implementation can be found in [22].…”

Section: Experiments and Resultsmentioning

confidence: 99%

Commanding sensors and controlling indoor autonomous mobile robots

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,

Sobh²,

Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applicati

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Any sensory system can be viewed as a passive or dumb element which provides raw data. It can also be viewed as an intelligent element which returns "analyzed" information. Finally, it can be viewed as a commanding element which sends commands to the physical system. Each of these views is used in different situations and for different tasks. Commanding sensors are an extension to the logical sensor approach in which a mapping from events to actions is added to the sensor model.In a previous paper, we proposed a sensor-based distributed control scheme for mobile robots along with several simulation results [ 11. In this paper, the application of this scheme to control a real mobile robot is presented and the results of several experiments are discussed. A server-client model is used to implement this scheme where the server is a process that carries out the commands to be executed, and each client is a process with a certain task. The logical sensor approach is used to model the sensory system which provides different levels of data representation with tolerance measures and analysis.

“…Figure 3 shows the LABMATE with its equipment. Simulation results and detailed implementation can be found in [22].…”

Section: Experiments and Resultsmentioning

confidence: 99%

Commanding sensors and controlling indoor autonomous mobile robots

¹

,

Sobh²,

Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applicati

Self Cite

View full text Add to dashboard Cite

Any sensory system can be viewed as a passive or dumb element which provides raw data. It can also be viewed as an intelligent element which returns "analyzed" information. Finally, it can be viewed as a commanding element which sends commands to the physical system. Each of these views is used in different situations and for different tasks. Commanding sensors are an extension to the logical sensor approach in which a mapping from events to actions is added to the sensor model.In a previous paper, we proposed a sensor-based distributed control scheme for mobile robots along with several simulation results [ 11. In this paper, the application of this scheme to control a real mobile robot is presented and the results of several experiments are discussed. A server-client model is used to implement this scheme where the server is a process that carries out the commands to be executed, and each client is a process with a certain task. The logical sensor approach is used to model the sensory system which provides different levels of data representation with tolerance measures and analysis.

Optimal wall pose determination in a shared-memory multi-tasking control architecture

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1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems (Cat. No.96TH8242)

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In prevzous work. we proposed a new technzque for the recovery of planar surjaces using two beam-spread sonar readzngs [9, 10, 111. In thzs paper, we present an implementation of this technzque tn a wall-fotlowrng algorzthm uszng two sonar readzngs. Thzs program 1s used as a client zn a sensor-based dzstrzbuted control scheme for mobzle robots.

Instrumented logical sensor systems-practice

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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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