Wireless Sensor Networks (WSNs) incorporate smart antennas for information propagation to offer connected coverage with reduced interference. This paper presents an omni directional antenna assisted scheme for WSNs to reduce network redundancy besides offering connected coverage. The directivity of an omni directional antenna outfitted on a sink node is exploited to reduce network redundancy an...

We are interested in the real time pose estimation of a group of networked mobile robots based on exteroceptive information from their vision systems. Additionally, we are also interested in simultaneously tracking a rigid unknown object. We present a localization and object tracking approach based on statistical operators and simple graph searching algorithms. The approach was implemented in o...

Aiming at the problem that the traditional control methods can’t satisfactorily complete the trajectory tracking task, so a multi point preview control method based on automobile driving is designed for the motion control of four-wheel drive omni-directional mobile robot. Lateral position error and curvature of each preview point are calculated based on the robot’s lateral position error model....

Since there are usually parameter uncertainties and influence of the exogenous disturbances on the dynamic model of a four-wheel omni-directional mobile robot (FOMR), the traditional strategy for motion control has not good performance. A sliding mode control based on an adaptive approach and a filter (AFSMC) is presented in this paper. First, according to identifying the reaching gain by a Rad...

Teleoperation systems consist of two subsystems namely, the master and the slave. Master is used by the human operator to send commands to the slave to achieve a task. In bilateral teleoperation, the interaction forces acquired from the slave sub-system is sent to the master to increase the level of tele-presence. In this kind of a setting, data has to be transferred through a communication lin...

Compact omnidirectional mobile robots are required to automate transportation of raw materials, products, etc. within an industrial plant. This paper focuses on omni wheel with low vibration and arrangements that contribute compactness. Due its wheels’ configuration, our proposed compact robot may have different sensitivity noise (controller) performance (errors) when following a predetermined ...