An Autonomous Mobile Robotics Testbed: Construction, Validation, and Experiments

Riggs, Travis A; Inanc, Tamer; Zhang, Weizhong

doi:10.1109/tcst.2009.2027429

Cited by 25 publications

(7 citation statements)

References 18 publications

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“…También existen bancos de pruebas de robótica de carácter generalista, desarrollados para ser empleados en un amplio rango de experimentos. Entre otros destacan el propuesto en (Michael et al, 2008), que estudia el despliegue de grandes enjambres de robots móviles, o el propuesto en (Riggs et al, 2010) para experimentos en control y percepción cooperativa. También se han desarrollado bancos de pruebas que integran robots móviles no terrestres, como (Hoffmann et al, 2004), que incluye robots aéreos tipo quadrotor o (Brundage et al, 2006), que permite la cooperación de robots marinos.…”

Section: Estado Del Arteunclassified

Un Banco de Pruebas Remoto para Experimentación en Robótica Ubicua

Jimenez-Gonzalez

Dios

Bernabé

et al. 2014

Revista Iberoamericana de Automática e Informática Industrial R

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La escasez de herramientas experimentales adecuadas ha sido señalada como un factor crítico en el desarrollo de la robótica ubícua. Este artículo describe un banco de pruebas remoto para experimentación en robótica ubicua integrando robots con redes inalámbricas de sensores. El banco de pruebas está compuesto por 5 robots Pioneer 3-AT, por una red de cámaras y por una red inalámbrica de sensores, todos ellos equipados con una amplia variedad de sensores. La arquitectura del banco de pruebas permite una gran diversidad de esquemas de cooperación entre sus elementos abstrayendo sus particularidades y capacidades sensoriales, computacionales y de comunicaciones. Permite ejecutar experimentos con distintos grados de descentralización. El

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Section: Estado Del Arteunclassified

Un Banco de Pruebas Remoto para Experimentación en Robótica Ubicua

Jimenez-Gonzalez

Dios

Bernabé

et al. 2014

Revista Iberoamericana de Automática e Informática Industrial R

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“…A scalable testbed for large deployments of mobile robots is proposed in [ 13 ]. The testbed in [ 14 ] allows a wide range of coordinative and cooperative experiments. Most of these testbeds can not be operated remotely.…”

Section: Related Workmentioning

confidence: 99%

An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors

Jimenez-Gonzalez

Dios

Ollero

2011

Sensors

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Cooperation among devices with different sensing, computing and communication capabilities provides interesting possibilities in a growing number of problems and applications including domotics (domestic robotics), environmental monitoring or intelligent cities, among others. Despite the increasing interest in academic and industrial communities, experimental tools for evaluation and comparison of cooperative algorithms for such heterogeneous technologies are still very scarce. This paper presents a remote testbed with mobile robots and Wireless Sensor Networks (WSN) equipped with a set of low-cost off-the-shelf sensors, commonly used in cooperative perception research and applications, that present high degree of heterogeneity in their technology, sensed magnitudes, features, output bandwidth, interfaces and power consumption, among others. Its open and modular architecture allows tight integration and interoperability between mobile robots and WSN through a bidirectional protocol that enables full interaction. Moreover, the integration of standard tools and interfaces increases usability, allowing an easy extension to new hardware and software components and the reuse of code. Different levels of decentralization are considered, supporting from totally distributed to centralized approaches. Developed for the EU-funded Cooperating Objects Network of Excellence (CONET) and currently available at the School of Engineering of Seville (Spain), the testbed provides full remote control through the Internet. Numerous experiments have been performed, some of which are described in the paper.

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“…Therefore, small-scaled platforms are proposed to bridge the gap between pure computer simulations and real-size vehicles [6], [3]. Indoor tesbeds are attractive supplements for consistent and repeatable tests, involving multiple vehicles [7]- [9]. However, those are mostly built to study higher-level decision making and situations assessments, which lack any kind of low-level actuator and sensor interaction evaluation.…”

Section: Introductionmentioning

confidence: 99%

Using scaled down testing to improve full scale intelligent transportation

Ozbilgin

Kurt

Özgüner

2014

2014 IEEE Intelligent Vehicles Symposium Proceedings

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This study illustrates a methodology to reduce the time and effort spent on full-scale Intelligent Transportation System testing, through the use of small-scale testbeds. Scaled down testing platforms enable the researchers to implement, compare, and assess different architectures for intelligent transportation by deploying hardware-in-the-loop (HIL) simulation and testing, giving strong indications on the performance and high-level behavior of such systems at full scale. The performance of the scaled down testing is illustrated using a specific example based on an autonomous parking. The approach is demonstrated on intelligent transportation system testbed in The Ohio State University Control and Intelligent Transportation Research Laboratory. The detailed experimental results show the applicability and robustness of the proposed system.

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An Autonomous Mobile Robotics Testbed: Construction, Validation, and Experiments

Cited by 25 publications

References 18 publications

Un Banco de Pruebas Remoto para Experimentación en Robótica Ubicua

Un Banco de Pruebas Remoto para Experimentación en Robótica Ubicua

An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors

Using scaled down testing to improve full scale intelligent transportation

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