Coordinated control of mobile antennas for ad hoc networks. (16th January 2006)

• Record Type: Journal Article
• Authors: Antonelli, Gianluca; Arrichiello, Filippo; Chiaverini, Stefano; Setola, Roberto
• Is Part Of: International journal of modelling, identification and control. Volume 1:Number 1(2006)
• Page Start: 63
• Page End: 71
• Publication Date: 2006-01-16
• Subjects: mobile ad hoc networks -- coverage area adaptation -- multi-robot systems -- multiple robots -- mobile robots -- motion planning -- path planning -- inverse kinematics -- mobile networks -- wireless networks -- coordinated control -- mobile antennas -- autonomous agents -- simulation -- communications -- robot coordination -- cooperating robots -- wireless devices -- connectivity -- obstacle avoidance -- fault tolerance; Engineering -- Methodology -- Periodicals; Science -- Methodology -- Periodicals; 001.42
• Languages: English
• ISSNs: 1746-6172

Abstract

This paper investigates the implementation of a wireless mobile ad hoc network to guarantee that an autonomous agent (an autonomously driven mobile vehicle or a human), remains connected to a fixed base station while performing its own mission. To this purpose, the use of a platoon of mobile robots is proposed to carry a number of repeater antennas; these are suitably moved to dynamically ensure a multi hop communication link to the moving agent, hence extending and adapting the area covered by the sole base station. Self-configuration of the robots' platoon is 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.