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Proceedings Paper

Formation control in mobile actuator/sensor networks
Author(s): Zhongmin Wang; Pengyu Chen; Zhen Song; YangQuan Chen; Kevin L. Moore
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Paper Abstract

In this paper, the application of wheeled mobile robot (WMR) formation control in diffusion process characterization and control is discussed. We present a review over the current approaches on mobile robot formation control. A new consideration is presented on formation control within the framework of networked control system with wireless communication. The potential benefits of robot formation in distributed diffusion process measurement and control are discussed. In this paper, we present a new nonlinear control law for a general formation that can be useful in diffusion process boundary measurement. Then, we introduce our on-going project called Mobile Actuator and Sensor Network (MAS-net) on the diffusion process characterization and control. Experiment results are presented to illustrate how pattern formation can be achieved in MAS-net.

Paper Details

Date Published: 27 May 2005
PDF: 12 pages
Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); doi: 10.1117/12.605131
Show Author Affiliations
Zhongmin Wang, CSOIS, Utah State Univ. (United States)
Pengyu Chen, CSOIS, Utah State Univ. (United States)
Zhen Song, CSOIS, Utah State Univ. (United States)
YangQuan Chen, CSOIS, Utah State Univ. (United States)
Kevin L. Moore, Applied Physics Lab., Johns Hopkins Univ. (United States)

Published in SPIE Proceedings Vol. 5804:
Unmanned Ground Vehicle Technology VII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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