A Mobile Robots Experimental Environment with Event-Based Wireless Communication

Guinaldo, María; Fábregas, Ernesto; Farías, Gonzalo; Dormido-Canto, S.; Chaos, Dictino; Sánchez, José Luis Guzmán; Dormido, Sebastián

doi:10.3390/s130709396

Cited by 31 publications

(29 citation statements)

References 33 publications

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“…The proposed NCS is depicted in Figure 1, where the network is placed between the remote and local sides, and can introduce time-varying delays, packet dropouts and packet disorder. The round-trip time delay for the packet sampled at the instant kNT (where T is 6 the actuation period, k  is the iteration at period NT -which is the sensor period-, and N   is a parameter known as multiplicity in a dual-rate control framework [14]) is defined as . Since in this work, an IP network which uses UDP as the transport layer protocol is taken into account, the distribution of the round-trip time delay is a constant plus a Gamma distributed random variable, whose shape and scale parameters change with load and network segment [19].…”

Section: -Problem Descriptionmentioning

confidence: 99%

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A packet-based dual-rate PID control strategy for a slow-rate sensing Networked Control System

et al. 2018

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This paper introduces a packet-based dual-rate control strategy to face time-varying network-induced delays, packet dropouts and packet disorder in a Networked Control System. Slow-rate sensing enables to achieve energy saving and to avoid packet disorder. Fast-rate actuation makes reaching the desired control performance possible. The dual-rate PID controller is split into two parts: a slow-rate PI controller located at the remote side (with no permanent communication to the plant) and a fast-rate PD controller located at the local side. The remote side also includes a prediction stage in order to generate the packet of future, estimated slow-rate control actions. These actions are sent to the local side and converted to fast-rate ones to be used when a packet does not arrive at this side due to the network-induced delay or due to occurring dropouts. The proposed control solution is able to approximately reach the nominal (no-delay, no-dropout) performance despite the existence of time-varying delays and packet dropouts. Control system stability is ensured in terms of probabilistic Linear Matrix Inequalities (LMIs). Via real-time control for a Cartesian robot, results clearly reveal the superiority of the control solution compared to a previous proposal by authors.

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Section: -Problem Descriptionmentioning

confidence: 99%

“…This is what is called a Networked Control System (NCS) [1,2,3]. Some interesting applications have been reported in this field [4,5,6,7] in the last few years. As it is well known, the energy consumption in sensor networks is usually due to sensing, processing and communication operations.…”

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confidence: 99%

A packet-based dual-rate PID control strategy for a slow-rate sensing Networked Control System

et al. 2018

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“…Las estrategias de control basado en eventos ( [71], [120], [3]) se han extendido para ser utilizadas con éxito en distintas áreas tales como el control cooperativo ( [48], [57]), consenso multiagente ( [148], [68]) y protocolos de acuerdo en sistemas multiagente [119]. En estos casos, la solución basada en eventos producirá un intercambio de información entre los miembros del grupo (sensores, controladores, robots, etc.)…”

Section: Control Basado En Eventosunclassified

“…Con esto está claro que utilizar el error de estimación en el caso de la localización para definir el evento con el que se regula el acceso a la información global o relativa no es conveniente y se debe establecer otro método para reflejar la necesidad de establecer comunicaciones para obtener la información relativa o la necesidad de la información global. Algunos métodos existentes ( [68], [148]) utilizan el error en la referencia de posición para definir el evento de localización; sin embargo, este error está estrechamente ligado a la navegación y no a localización ya que se puede dar el caso en el que el error de navegación disminuya (al acercarse el robot al punto de destino) pero el error de localización crezca, ya que cuando el robot avanza y estima su postura mediante odometría, el error tiende a acumularse, esto tendría un comportamiento no deseado en localización ya que el evento no refleja la necesidad de corregir la estimación local de la postura. Este problema es resuelto en la presente tesis definiendo el evento con base a la covarianza del error de estimación local como se expondrá en la sección de algoritmos.…”

Section: Control Basado En Eventosunclassified

“…Algunos métodos existentes [68,148] utilizan el error en la referencia del control de postura (error de navegación) para definir el evento para el algoritmo de estimación por eventos (predicción y corrección) aplicado en problemas de consenso multiagente. Sin embargo, esta definición del evento tiene un gran inconveniente debido a que el error de navegación (que indica si el robot ha llegado al punto de destino o a un punto intermedio de la trayectoria a seguir) puede ser independiente del error de localización (que indica con que precisión se determinó la postura del robot o si el robot se ha perdido).…”

Section: Problemática Asociada a Las Definiciones Existentesunclassified

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Localización de robots móviles de recursos limitados basada en fusión sensorial por eventos

Paniagua¹,

José²

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Palabras clave: Fusión de datos, filtros de Kalman, filtros de Kalman distribuidos, odometría, localización de robots, robots móviles, sistemas basados en eventos, estimación basada en eventos, comunicación basada en eventos, localización cooperativa, sistemas sensoriales, fusión sensorial multirobot, LEGO NXT.Subvenciones: Este trabajo ha sido financiado parcialmente por el Ministerio de Ciencia e Innovación de España bajo los proyectos FEDER/CICYT de investigación DPI2008-06737-C02-01 y DPI2010-20814-C02-02. Además se agradece el soporte financiero por parte de la Universidad de Costa Rica.iv v Aquest mètode a més a més permet fer una fusió sensorial intel·ligent, tenint en compte únicament la informació relativa més fiable, descartant mesures poc precises o procedents de robots molt allunyats.Els algorismes proposats han estat provats extensivament mitjançant simulació i a distintes plataformes mòbils a les quals s'observa el bon acompliment d'objectius per part d'aquests. Es presenten a més a més execucions de llarga durada que comproven l'estabilitat i robustesa del mètode en llargues distàncies. Addicionalment s'analitza, al cas del mètode de localització cooperativa, la relació de compromís entre la covariància de l'error d'estimació i l'ús d'ample de banda en emprar l'algorisme proposat.S'exposa finalment les possibilitats d'ampliació del present treball a àrees com mapeig i localització simultània, ajust del mètode a plataformes omnidireccionals, implementació a distints grups heterogenis de robots i l'estudi de distintes definicions alternatives d'esdeveniments i el seu efecte a l'acompliment de la localització.Paraules clau: Fusió de dades, filtres de Kalman, filtres de Kalman distribuïts, odometria, localització de robots, robots mòbils, sistemes basats en esdeveniments, estimació basada en esdeveniments, comunicació basada en esdeveniments, localització cooperativa, sistemes sensorials, fusió sensorial multirobot, LEGO NXT. Subvencions: Subvencions: Aquest treball ha estat finançat parcialment pel Ministerio de Ciencia e Innovación de España baix els projectes FE-DER/CICYT d'investigació ABSTRACT Localization, the process of obtaining and processing the information of the robot pose in the movement space, is a fundamental issue in autonomous mobile robots as this information is required to determine the desired robot movements. For this task, all the available sensor sources must be used in order to reduce the error in the pose estimation, as the measurements are subject to noise and nonlinearities.The formulation of a new sensor fusion framework that improves the localization of mobile robots with limited computational resources, navigating individually in the environment or in assembled heterogeneous groups, is the central and fundamental issue of this thesis.The proposed algorithms use the dynamic model of an Ackermann and a differential steering mobile robots, along with the Kalman Filter fusion scheme to perform the local pose estimation using the inertial sensors measurements, which is updated ...

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Event based distributed kalman filter for limited resource multirobot cooperative localization

Marín

Soriano

Vallés

et al. 2019

Asian Journal of Control

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This paper presents a multirobot cooperative event based localization scheme with improved bandwidth usage in a heterogeneous group of mobile robots. The proposed method relies on an agent based framework that defines the communications between robots and on an event based Extended Kalman Filter that performs the cooperative sensor fusion from local, global and relative sources.The event is generated when the pose error covariance exceeds a predefined limit. By this, the robots update the pose using the relative information available only when necessary, using less bandwidth and computational resources when compared to the time based methods, allowing bandwidth allocation for other tasks while extending battery life. The method is tested using a simulation platform developed in the programming language JAVA with a group of differential mobile robots represented by an agent in a JADE framework. The pose estimation performance, error covariance and number of messages exchanged in the communication are measured and used to compare the traditional time based approach with the proposed event based algorithm. Also, the compromise between the accuracy of the localization method and the bandwidth usage is analyzed for different event limits. A final experimental test with two SUMMIT XL robots is shown to validate the simulation results. KEYWORDScooperative localization, cooperative sensor fusion, distributed kalman filtering, event based communication, event based estimation, mobile robots ities, which can produce great uncertainty in the pose estimation if not taken into account.A single robot can estimate its pose using sensors with Local information (encoders, gyroscopes, etc.) via Dead Reckoning [1] with an unbounded estimation error growth over time [2], or with Global information (GPS, zenithal camera, etc.) with direct pose measurement but slow response time and limited environment applicability

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A Mobile Robots Experimental Environment with Event-Based Wireless Communication

Cited by 31 publications

References 33 publications

A packet-based dual-rate PID control strategy for a slow-rate sensing Networked Control System

A packet-based dual-rate PID control strategy for a slow-rate sensing Networked Control System

Localización de robots móviles de recursos limitados basada en fusión sensorial por eventos

Event based distributed kalman filter for limited resource multirobot cooperative localization

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