Multi-Vehicle Testbed for Decentralized Environmental Sensing

被引：3
|
作者：
Cortez, R. Andres [1 ]
Luna, Jose-Marcio [2 ]
Fierro, Rafael [2 ]
Wood, John [1 ]
机构：
[1] Univ New Mexico, Dept Mech Engn, Albuquerque, NM 87131 USA
[2] Univ New Mexico, Dept Elect & Comp Engn, MARHES Lab, Albuquerque, NM 87131 USA
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年
关键词：
D O I：
10.1109/ROBOT.2010.5509294
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we present our multi-vehicle testbed that was designed for verification and validation of cooperative control algorithms involving environmental sensing. Two cooperative control algorithms: prioritized multi-sensing behavior, and a distributed adaptive algorithm for nonholonomic sensor networks are qualitatively verified using our multi-vehicle testbed. The multi-vehicle testbed allows for a straightforward transition from simulation to experimenting on actual hardware and has the flexibility to interface various types of sensors, vehicles, as well as enable indoor and outdoor experiments.
引用
收藏
页码：3052 / 3058
页数：7
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