This paper describes a method to construct a stationary environmental map and estimate the ego-motion of a mobile robot from unknown planar motion by using an omni-directional vision sensor. Most environments where mobile robot works are limited to two-dimensional space and the environmental map which is necessary for mobile robot navigation has also two dimensions. However, conventional “Struc...

Directional antennas have been proposed to improve the performance and capacity of Wireless MAC protocols for use in Mobile Ad hoc Networks (MANETs). Such antennas focus their beams in the direction of their receiver, allowing more of the signal power to be used in the direction of the transmission and simultaneously reducing the interference in other directions. However, several challenges and...

The development of microrobots on a millimeter scale has recently received much attention. The environments in which these robots are supposed to operate are narrow and potentially complicated spaces, such as micro-factory, blood vessel, and micro-satellite. The robots must have omni-directional mobility, high power and high load capacity, within a scale in millimeters, in order to accomplish t...

A millimeters size omni-directional mobile micro-robot is presented in this paper. A unique duel-wheel structure is designed for no-slip motion during the steering, by turning the slip friction between the wheel and ground into rolling friction. The robot was driven by four electromagnetic micromotors with 2.1mm×2.1mm×1.3mm size. Three of them are for translation and the other one is for rotati...

This paper addresses trajectory tracking of an omni-directional mobile robot (OMR) with three mecanum wheels and a fully symmetrical configuration. The omni-directional wheeled robot outperforms the non-holonomic wheeled robot due to its ability to rotate and translate independently and simultaneously. A kinematics model of the OMR is established and a model predictive control (MPC) algorithm w...

Multipath routing protocols are distinguished from single-path routing by the fact that they look for and use several routes from a source to destination. Several routing schemes have been proposed in the context of mobile ad hoc networks that uses multiple paths simultaneously by splitting the information among the multitude of paths. However, the effect of route coupling in this environment c...