%0 Conference Paper %B Proc. European Control Conference (ECC) %D 2007 %T A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems %A P. Alriksson %A J. Nordh %A K -E Arzén %A A. Bicchi %A A. Danesi %A R. Schiavi %A L. Pallottino %K Embedded Control %K Robotics %X

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.

%B Proc. European Control Conference (ECC) %P 4285-4292 %8 July %G eng