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A LEGO-Based Mobile Robotic Platform for Evaluation of Parallel Control and Estimation Algorithms
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Automatic control.
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Automatic control.
2011 (English)In: Proc. 50th Conference on Decision and Control, Piscataway, NJ: IEEE , 2011, 4548-4553 p.Conference paper, Published paper (Refereed)
Abstract [en]

An inexpensive robotic system intended for educational use in parallel algorithms for embedded control and signal processing is described. The hardware platform is comprised of a state-of-the-art multi-core system in a wireless network with several mobile LEGO robots that collect data from their environment. The setup covers a broad range of real-time cooperative and parallel problems arising in sensor networks, robotics, surveillance and high-performance embedded applications. As an illustration, a bearings-only tracking problem, estimating both mobile robots positions and the position of a non-cooperating target by using parallel particle filtering, is solved on the proposed platform. In order to improve the estimation accuracy and to adjust to changes in the environment and movements of the target, a controller positioning the mobile robots is utilized.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE , 2011. 4548-4553 p.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:uu:diva-166430DOI: 10.1109/CDC.2011.6161252ISI: 000303506205027ISBN: 9781612847993 (print)ISBN: 9781612848006 (print)OAI: oai:DiVA.org:uu-166430DiVA: diva2:476433
Conference
50th IEEE Conference on Decision and Control (CDC), 2011
Available from: 2012-01-12 Created: 2012-01-12 Last updated: 2016-07-18Bibliographically approved

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fulltext(1274 kB)53 downloads
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Wahlberg, FredrikMedvedev, AlexanderRosén, Olov

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