FollowMe! Mobile Team Coordination in Wireless Sensor and Actuator Networks


Bosch, Stephan and Marin-Perianu, Mihai and Marin-Perianu, Raluca and Scholten, Hans and Havinga, Paul (2009) FollowMe! Mobile Team Coordination in Wireless Sensor and Actuator Networks. In: IEEE International Conference on Pervasive Computing and Communications, PerCom, 9-13 Mar 2009, Galveston, Texas, USA (pp. pp. 151-161). (In Press)

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Abstract:Autonomous vehicles are used in areas hazardous
to humans, with significantly greater utility than the equivalent, manned vehicles. This paper explores the idea of a coordinated team of autonomous vehicles, with applications in cooperative surveillance, mapping unknown areas, disaster management or space exploration. Each vehicle is augmented with a wireless sensor node with movement sensing capabilities. One of the vehicles is the leader and is manually controlled by a remote controller. The rest of the vehicles are autonomous followers controlled by wireless actuator nodes. Speed and orientation are computed by the sensor nodes in real time using inertial
navigation techniques. The leader periodically transmits these measures to the followers, which implement a lightweight fuzzy logic controller for imitating the leader’s movement pattern. The solution is not restricted to vehicles on wheels, but supports any moving entities capable of determining their velocity and heading, thus opening promising perspectives for machine-to-machine and
human-to-machine spontaneous interactions in the field.
Item Type:Conference or Workshop Item
Copyright:© 2009 IEEE
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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