TitleA Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems
Publication TypeConference Paper
Year of Publication2007
Conference NameProc. European Control Conference (ECC)
Date PublishedJuly
Publication Languageeng
AuthorsAlriksson, P, Nordh, J, Arzén, K-E, Bicchi, A, Danesi, A, Schiavi, R, Pallottino, L
KeywordsEmbedded Control, Robotics

In the RUNES project a disaster relief tunnel scenario is being developed in which mobile robots are used to restore the radio network connectivity in a stationary sensor network. A component-based software development approach has been adopted. Two components are described in this paper. A localization component that uses ultrasound and dead reckoning to decide the robot positions and a collision avoidance component that ensures that the robots do not collide with each other.

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