Obstacle avoidance methods for mobile robots have proposed in a broad range of studies and the availabilities have been discussed. Most of these studies regard the robots as points or circles and control methods of the translational movements are discussed. In these studies, it is pointed out that a non-circle robot can be transformed into a point robot by expanding the obstacles by the largest...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

Regarding the increasing demands for high quality spatial information, many researchers have emphasized the need for multisensor/platform integration for more rapid and economical generation of such spatial data. Most systems employing a set of frame cameras may have suffered from their small fields of view and poor base-distance ratio. These limitations can be significantly improved by employi...

Directional distributed co-ordination function (D-DCF), a modified medium access control protocol of IEEE 802.11, is proposed to support hybrid antennas such as smart adaptive array antennas and normal omni-directional antennas, in one wireless local area network cell. Nodes equipped with smart antennas follow D-DCF and nodes equipped with normal antennas follow DCF. D-DCF based on a hybrid vir...

It is shown that the throughput capacity of wireless ad hoc networks using omni-directional antennas (OMN networks) is significantly decreased with the increased number of nodes. One major reason lies in the interference caused by using omni-directional antennas, which just broadcast radio signal in all directions. Thus, a communication with multiple short-ranged hops is suggested in such netwo...

There are examples of robotic systems in which autonomous mobile robots self-assemble into larger connected entities. However, existing systems display little or no autonomous control over the shape of the connected entity thus formed. We describe a novel distributed mechanism that allows autonomous mobile robots to self-assemble into pre-specified patterns. Global patterns are ‘grown’ using lo...