In this paper, the issue of broadcasting in mobile ad hoc networks (MANETs) is considered. A node equipped with directional antenna can divide the Omni directional transmission range into several sectors and turn some of them “on” for transmission. In the proposed scheme using a directional antenna, forwarding nodes selected locally need to transmit broadcast messages, only to the restricted se...

This paper deals with an omni-directional sensor based on a camera and a mirror generated with a surface of revolution. The requirements the device must fulfill result from its use as the main perception system for the autonomous mobile robots used in F2000 RoboCup competitions. The more relevant requirements which have been pursued are 1) range sensing in a quite wide region centered around th...

In this paper, a nonlinear controller design for an omni-directional mobile robot is presented. The robot controller consists of an outer-loop (kinematics) controller and an inner-loop (dynamics) controller, which are both designed using the Trajectory Linearization Control (TLC) method based on a nonlinear robot dynamic model. The TLC controller design combines a nonlinear dynamic inversion an...

Abstract: This paper describes how to control an asymmetric wheeled mobile robot with omnidirectional wheels, considering the sample of a robot with three wheels. When flexible motion capabilities are required this robot must be designed to meet the related requirements, namely fast and agile motions as well as robust navigation. This paper provides an overview for the design of kinematics and ...

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manip...

In the paper, an algorithm for the obstacle avoidance and a procedure for the role reassignment of robot formation control based on this algorithm are proposed. This algorithm contains an edge detector that is used to determine the position of the vertical edges of the obstacle in the environment. Meanwhile, a motion controller is also designed in this research based on the dynamic equation for...

The use of directional antennae in ad-hoc networks has received growing attention in recent years. However, most directional MAC protocols assume interchangeable directional and omni-directional modes of operation. Such operation reduces the spatial gain and introduces the asymmetry in gain problem. In this paper, we propose a directional-to-directional (DtD) MAC protocol for ad-hoc networks th...

This paper presents a comprehensive Non Line of Sight (NLOS) localization scheme in a multipath environment where the scatterers with smooth surfaces are aligned parallel or perpendicular to each other. It leverages on the estimation of Angle of Arrival (AOA) and Time of Arrival (TOA) of the omni-directional mobile device’s signal received at the reference devices. Unlike the conventional Line ...