Embedded Implementation of Mobile Robots Control

Valera, Ángel; Vallés, Marina; Albertos, Pedro; Simarro, Raúl; Benítez, Ignacio; Llácer, C.

doi:10.3182/20080706-5-kr-1001.01156

Cited by 5 publications

(4 citation statements)

References 8 publications

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“…In the second experiment, a mobile robot is controlled to follow a trajectory and avoid unexpected obstacles [11]. The trajectory tracking algorithm involves a high computational cost, because it is necessary to estimate the robot position at each instant from sensory information.…”

Section: Controller Adaptation Due To Goal Changesmentioning

confidence: 99%

Control kernel based adaptive control implementation

2013

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Association for Computing Machinery (ACM)Simarro Fernández, R.; Albertos Pérez, P.; Simó Ten, JE. (2013). Control kernel based adaptive control implementation. SIGBED review. 10(1):24-28. doi:10.1145/2492385.2492389. Control kernel based adaptive control implementation ABSTRACTA control system with distributed computing resources always should guarantee the safe control of the plant. In this contribution, the concept of control kernel is used for that purpose. Two types of nodes with different resources are defined: the powerful server node and the resource-constrained light node. This architecture allows to split the control tasks into two blocks. Those demanding strong computing resources are allocated in the server nodes and those compelling tasks required to ensure the safety of the controlled plant are allocated in the light nodes. Resource limitations lead to control adaptation. Two simple applications illustrate some of the benefits of this architecture with one server node and one light node, even the architecture can be extended to several nodes. In the first case, an adaptive control is implemented in the server node, providing the control algorithm to the light node, which is also able to compute a local safe control action. In the second experiment, two different control tasks requiring different resources are implemented in a mobile robot control. To keep bounded the computing time at the local level, the supervisor decides the time allocated to each activity, providing the resulting controller to the light node.

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Section: Controller Adaptation Due To Goal Changesmentioning

confidence: 99%

Control kernel based adaptive control implementation

2013

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“…The paper "Embedded Implementation of Mobile Robots Control" of A. Valera, M. Vallés, P. Albertos, R. Simarro, I. Benitez, C. Llácer, illustrates this architecture (Valera et al., 2008).…”

Section: Controlled Systemmentioning

confidence: 99%

Distribution diagnosis of networked embedded system

Bayart

2008

IFAC Proceedings Volumes

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“…For instance, a LEGO-based experiment for teaching fundamental concepts of control and digital signal processing is reported in Heck et al [2004], while a set of control experiences using LEGO are described in Gawthrop and McGookin [2006]. Regarding mobile robots built with LEGO, recent works can be found in Valera et al [2008], where a distributed network-based control of mobile robots is described, and in Green et al [2008], where a human can collaborate in a natural manner with a mobile robot.…”

Section: Introductionmentioning

confidence: 99%