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このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/7770
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| タイトル: | Collision prevention platform for a dynamic group of asynchronous cooperative mobile robots |
| 著者: | Yared, Rami
Defago, Xavier
Iguchi-Cartigny, Julien
Wiesmann, Matthias |
| キーワード: | collision prevention
mobility
fail-safe
autonomous cooperative robots
wireless ad hoc networks
distributed algorithms |
| 発行日: | 2007-08 |
| 出版者: | Academy Publisher |
| 誌名: | Journal of Network |
| 巻: | 2 |
| 号: | 4 |
| 開始ページ: | 28 |
| 終了ページ: | 39 |
| 抄録: | This paper presents a fail-safe platform on which cooperative mobile robots rely for their motion. The platform consists of a collision prevention protocol for a dynamic group of cooperative mobile robots with asynchronous communications. The collision prevention protocol is timefree, in the sense that it never relies on physical time, which makes it extremely robust for timing uncertainty common in wireless networks. It guarantees that no two robots ever collide, regardless of the respective activities of the robots. The protocol is based on a fully distributed path reservation system. It assumes a mobile ad hoc network formed by the robots themselves, and takes advantage of the inherent locality of the problem in order to reduce communication. The protocol requires neither initial nor complete knowledge of the composition of the group. A performance analysis of the protocol provides insights for a proper dimensioning of system parameters in order to maximize the average effective speed of the robots. |
| Rights: | Copyright (C) 2007 Academy Publisher. Yared, Rami; Defago, Xavier; Iguchi-Cartigny, Julien; Wiesmann, Matthias, Journal of Network, 2(4), 2007, 28-39. |
| URI: | http://hdl.handle.net/10119/7770 |
| 資料タイプ: | publisher |
| 出現コレクション: | b10-1. 雑誌掲載論文 (Journal Articles)
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このアイテムのファイル:
| ファイル |
記述 |
サイズ | 形式 |
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| A10850.pdf | | 662Kb | Adobe PDF | 見る/開く |
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