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Mobile Ad Hoc Robots and Wireless Robotic Systems

Book Description

The emergence of wireless robotic systems has provided new perspectives on technology. With the combination of several disciplines such as robotic systems, ad hoc networking, telecommunications and more, mobile ad hoc robots have been essential towards the future possibilities of technology.Mobile Ad Hoc Robots and Wireless Robotic Systems: Design and Implementation aims to introduce robotic theories, wireless technologies, and routing applications involved in the development of mobile ad hoc robots. This reference source brings together topics on the communication and control of network ad hoc robots, and how they working together to carry out coordinated functions. 

Table of Contents

  1. Cover
  2. Title Page
  3. Copyright Page
  4. Preface
  5. Acknowledgment
  6. Section 1: Robot Tracking Strategies
    1. Chapter 1: Distributed Multi-Robot Localization
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. RELATED WORK
      4. 3. SETTING AND APPROACH
      5. 4. BACKGROUND: THE INTERLACED EXTENDED KALMAN FILTER
      6. 5. DISTRIBUTED MULTI-ROBOT LOCALIZATION USING IEKF
      7. 6. CASE STUDIES
      8. 7. CONCLUSION
    2. Chapter 2: Indoor Surveillance Application using Wireless Robots and Sensor Networks
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. BACKGROUND
      4. 3. THE SURV-TRACK APPLICATION
      5. 4. MULTI-ROBOT TASK ALLOCATION FOR TARGET CAPTURING
      6. 5. ROBOT PATH PLANNING USING WIRELESS SENSOR NETWORKS
      7. 6. CONCLUSION AND FUTURE WORK
    3. Chapter 3: Local Path-Tracking Strategies for Mobile Robots Using PID Controllers
      1. ABSTRACT
      2. PATH FOLLOWING AND MOTION-CONTROL BACKGROUND
      3. INTRODUCTION
      4. IDENTIFICATION, PID CONTROLLER DESIGN, AND PATH FOLLOWING
      5. CONCLUSION AND FUTURE RESEARCH DIRECTIONS
    4. Chapter 4: Mobile/Wireless Robot Navigation
      1. ABSTRACT
      2. INTRODUCTION TO NAVIGATION
      3. AIM OF THE CHAPTER
      4. LOCALIZATION
      5. WORKING
      6. BELIEF UPDATE USING MARKOV LOCALIZATION
      7. WORKING OF MONTE CARLO
      8. TRACKING AND KALMAN FILTER
      9. MARKOV LOCALIZATION AS THE PROPOSED ALGORITHM
      10. MATHEMATICAL FORMULA
      11. EXAMPLE AND WORKING
      12. MONTE CARLO LOCALIZATION
      13. OUR MODEL
      14. CONCLUSION
    5. Chapter 5: Control Architecture Model in Mobile Robots for the Development of Navigation Routes in Structured Environments
      1. ABSTRACT
      2. INTRODUCTION
      3. CONTROL ARCHITECTURE
      4. DIFFERENT APPROACHES TO CONTROL ARCHITECTURE
      5. A CASE STUDY OF MOBILE ROBOT NAVIGATION IN STRUCTURED ENVIRONMENT
      6. CONCLUSION
    6. Chapter 6: A Swarm Robotics Approach to Decontamination
      1. ABSTRACT
      2. INTRODUCTION
      3. DEFINITIONS
      4. DISTRIBUTED AND PARALLEL DECONTAMINATION
      5. A SWARM ROBOTICS APPROACH TO FIREFIGHTING
      6. CONCLUSION AND FUTURE WORK
    7. Chapter 7: Path Planning in a Mobile Robot
      1. ABSTRACT
      2. INTRODUCTION
      3. BRIEF REVIEW ON PATH PLANNING
      4. PATH PLANNING
      5. IMPLEMENTATION OF ALGORITHMS
      6. EXPERIMENTAL SETUP
      7. RESULTS
      8. CONCLUSION
    8. Chapter 8: An Alternative for Trajectory Tracking in Mobile Robots Applying Differential Flatness
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. FLATNESS TRAJECTORY TRACKING VEHICLE BEHAVIOUR
      5. CONCLUSION
      6. FUTURE RESEARCH DIRECTIONS
  7. Section 2: Wireless Robotic Applications
    1. Chapter 9: A Hierarchically Structured Collective of Coordinating Mobile Robots Supervised by a Single Human
      1. ABSTRACT
      2. INTRODUCTION
      3. AUTONOMOUS COORDINATION IN THE IMPLEMENTED SHMRS
      4. PHYSICAL IMPLEMENTATION OF A SHMRS WITH HIERARCHICALLY STRUCTURED COLLECTIVE
      5. THE DESCRIPTION OF A MISSION
      6. FUTURE RESEARCH DIRECTIONS
      7. CONCLUSION
    2. Chapter 10: A Mechatronic Description of an Autonomous Underwater Vehicle for Dam Inspection
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. PHYSICAL STRUCTURE
      4. 3. EMBEDDED INSTRUMENTATION
      5. 5. CONCLUSION
      6. FUTURE RESEARCH DIRECTIONS
    3. Chapter 11: A Virtual Simulator for the Embedded Control System Design for Navigation of Mobile Robots applied in Wheelchairs
      1. ABSTRACT
      2. INTRODUCTION
      3. THE MOBILE ROBOT PLATFORM
      4. DIRECT KINEMATICS FOR DIFFERENTIAL TRACTION
      5. SUPERVISION AND CONTROL: EMBEDDED OPEN ARCHITECTURE
      6. MOBILE ROBOT AND WHEELCHAIR SIMULATOR
      7. MOBILE ROBOT RAPID PROTOTYPING
      8. CONCLUSION
    4. Chapter 12: Design of a Mobile Robot to Clean the External Walls of Oil Tanks
      1. ABSTRACT
      2. 1. INTRODUCTION
      3. 2. STATE OF THE ART
      4. 3. METHODOLOGY
      5. 4. VORTEX ADHESION SYSTEM
      6. 5. MECHANICAL SYSTEM
      7. 6. RESULTS
      8. CONCLUSION
    5. Chapter 13: RobotBASIC
      1. ABSTRACT
      2. INTRODUCTION
      3. EASY-TO-USE
      4. INTERFACING WITH HARDWARE
      5. INTERFACING USING LIBRARIES
      6. ALGORITHMIC DEVELOPMENT
      7. USING ALTERNATIVE SENSORS AND ENVIRONMENTS
      8. CONCLUSION
    6. Chapter 14: Study and Design of an Autonomous Mobile Robot Applied to Underwater Cleaning
      1. ABSTRACT
      2. INTRODUCTION
      3. BACKGROUND
      4. MAIN FOCUS OF THE CHAPTER
      5. FUTURE RESEARCH DIRECTIONS
      6. CONCLUSION
    7. Chapter 15: Mobile Robotics Education
      1. ABSTRACT
      2. INTRODUCTION
      3. DEVELOPMENT
      4. CONCLUSION
    8. Chapter 16: Ad Hoc Communications for Wireless Robots in Indoor Environments
      1. ABSTRACT
      2. INTRODUCTION
      3. RELATED WORK
      4. THE EVOLUTION OF ROBOT WIRELESS COMMUNICATION
      5. SCENARIOS
      6. THE IEEE 802.11n STANDARD
      7. THE IEEE 802.15.4 STANDARD
      8. ELECTROMAGNETIC PROPAGATION MODELS
      9. INDOORS ATTENUATION BY DISTANCE WITH IEEE 802.11n
      10. INDOOR ATTENUATION CAUSED BY OBSTACLES WITH THE IEEE 802.11n STANDARD
      11. INDOOR ATTENUATION BY DISTANCE WITH IEEE 802.15.4
      12. INDOORS ATTENUATION BY OBSTACLES WITH 802.15.4
      13. EXPERIMENTAL AND ANALYTICAL ANALYSIS OF THE WIRELESS PROPAGATION MODELS
      14. CONCLUSION
  8. Compilation of References
  9. About the Contributors