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Analysis of distributed control system using remote method invocation in wireless network

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6 Author(s)
Allgayer, R. ; Electr. Eng. Dept., Fed. Univ. of Rio Grande do Sul (UFRGS), Porto Alegre, Brazil ; Muller, I. ; Pereira, C. ; Cavalcante, A.
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This work presents the temporal analysis for a distributed differential control system for a mobile robot deployed on a wireless network using the SunSPOT platform. The system is programmed in Java and each of its part is executed in a distinct processor which cooperates via a wireless network. The communication between the network nodes is made by remote procedure calls, which are implemented by a minimum version of the Java RMI (mRMI), presented in this work. Simulation results are compared to experimental data acquired by the deployment of the system on real devices, the SunSPOTs. The comparisons reveal that the distributed solution presents fairly good results besides the inserted errors due to the wireless communication.

Published in:

IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society

Date of Conference:

7-10 Nov. 2011