This paper investigates the implementation of a wireless mobile ad-hoc network to guarantee that an autonomously driven mobile vehicle remains connected to a limited-coverage base antenna during its motion. To the purpose, the use of a platoon of mobile robots is proposed to carry a number of repeater antennas; these must be suitably moved to dynamically ensure a multi-hop communication link to the vehicle that extends outside the area covered by the sole base antenna. Self configuration of the robots' platoon is then achieved by a singularity-robust task-priority inverse kinematics algorithm via the definition of suitable task functions. The obtained simulation results show the effectiveness of the proposed approach.

A Self-Configuring MANET for Coverage Area Adaptation through Kinematic Control of a Platoon of Mobile Robots

SETOLA R
2005-01-01

Abstract

This paper investigates the implementation of a wireless mobile ad-hoc network to guarantee that an autonomously driven mobile vehicle remains connected to a limited-coverage base antenna during its motion. To the purpose, the use of a platoon of mobile robots is proposed to carry a number of repeater antennas; these must be suitably moved to dynamically ensure a multi-hop communication link to the vehicle that extends outside the area covered by the sole base antenna. Self configuration of the robots' platoon is then achieved by a singularity-robust task-priority inverse kinematics algorithm via the definition of suitable task functions. The obtained simulation results show the effectiveness of the proposed approach.
2005
978-078038912-0
Coverage area adaptation; Inverse kinematics techniques; Mobile ad-hoc networks (MANETS); Mobile robots; Motion and path planning; Multi-robot systems
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12610/15167
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