2010 IEEE International Conference on Robotics and Automation 2010
DOI: 10.1109/robot.2010.5509294
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Multi-vehicle testbed for decentralized environmental sensing

Abstract: In this paper we present our multi-vehicle testbed that was designed for verification and validation of cooperative control algorithms involving environmental sensing. Two cooperative control algorithms: prioritized multi-sensing behavior, and a distributed adaptive algorithm for nonholonomic sensor networks are qualitatively verified using our multi-vehicle testbed. The multi-vehicle testbed allows for a straightforward transition from simulation to experimenting on actual hardware and has the flexibility to … Show more

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Cited by 8 publications
(3 citation statements)
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“…10 is visibly affected by the noise of the actual sensor measurements as well as by the numeric approximation of the centroid integrals. More details about our testbed and the hardware implementation are available in [29]. The parameter estimation error is not presented since the light concentration is not Gaussian to be properly compared.…”
Section: Resultsmentioning
confidence: 99%
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“…10 is visibly affected by the noise of the actual sensor measurements as well as by the numeric approximation of the centroid integrals. More details about our testbed and the hardware implementation are available in [29]. The parameter estimation error is not presented since the light concentration is not Gaussian to be properly compared.…”
Section: Resultsmentioning
confidence: 99%
“…The estimates of the light concentration at t = 107 s and t = 259 s are shown in Figs and , where the location of the maximum peak coincides with the maximum light intensity over the sampled area. More details about our testbed and the hardware implementation are available in . The reader can find videos about the simulation and experimental results at http://controls.ece.unm.edu/index.php/ASJC_2011_Videos.…”
Section: Resultsmentioning
confidence: 99%
“…Furthermore, the approximation of the adaptive law given by (31) induces additional noise on the plots. More details about the hardware implementation are available in [25]. The reader can find videos about the simulation and experimental results at http://controls.ece.unm.…”
Section: A Experimental Resultsmentioning
confidence: 99%