Convectional Omni directional sensors that always have an omni angle of sensing range, directional sensors may have a limited angle of sensing range due to the technical constraints or cost considerations. A directional sensor network consists of a number of directional sensors, which can switch to several directions to extend their sensing ability to cover all the targets in a given area. Impr...

All current mobile devices are omni directional in transmission, which not only limits device energy efficiency but also poses a significant challenge toward network capacity through inter-link interference. In this work, we make mobile devices directional with beamsteering. By allowing a dynamic number of antennas in beamsteering, we reveal an important tradeoff between device energy efficienc...

In recent years, the use of omni-directional cameras has become increasingly more popular in vision systems and robotics. To date, most of the research relating to omnidirectional cameras has focussed on the design of the camera or the way in which to project the omni-directional image to a panoramic view rather than on how to process these images after capture. Typically images obtained from o...

We are developing a novel autonomous mobile robotic system to emulate full 6 degree of freedom relative motion at high fidelity. An omni-directional base provides large 3-DOF motion with moderate precision, while a micron-class Stewart platform on top provides high precision, limited 6-DOF motion. This multi-vehicle robotic system is designed to accommodate multiple untethered vehicles simultan...

Robot motion planning has applications in a wide range of areas such as robot navigation and medical surgery. Among the topics that are related to motion planning, computing time-optimal trajectories is challenging and of great importance. We want to move a robot from the start to the goal in the shortest time. There are four different vehicle designs that are considered in our work: Dubins car...

The control of mobile robots is an intense research field, having produced a substantial volume of research literature in the past three decades. Mobile robots present a challenge in both theoretical control design as well as hardware implementation. From a theoretical point of view, mobile robots exert highly non-linear kinematics and dynamics, non-holonomy and complex operational environment....

Medium Access Control in Ad Hoc Networks with Omni-directional and Directional Antennas

Environment measurement is an important issue for various applications including household robots. Pulse radars are promising candidates in a near future. Estimating target shapes using waveform data, which we obtain by scanning an omni-directional antenna, is known as one of ill-posed inverse problems. Parametric methods such as Model-fitting method have problems concerning calculation time an...

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...

Several routing schemes have been proposed in the context of mobile ad hoc network. Some of them use multiple paths simultaneously by splitting the information among multitude of paths, as it may help to reduce end-to-end delay and perform load balancing. Multipath routing also diminishes the effects of unreliable wireless links in the constantly changing topology of ad hoc networks to a large ...