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An interactive simulator for networked mobile robots

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6 Author(s)
Guinaldo, M. ; Dept. of Comput. Sci. & Autom. Control, Spanish Univ. of Distance Educ., Madrid, Spain ; Farias, G. ; Fabregas, E. ; Sánchez, J.
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This article presents an interactive simulator for formation control of wireless networked robots. The formation control is achieved thanks to the application of consensus algorithms of multi-agent systems which are executed in a distributed manner. Each vehicle sends to its neighbors the state, and they use this state to compute their control law. The agents communicate through a packet-based network. Different scheduling schemes are provided: time-based and event-based, with different event trigger functions. The user can configure the topology of the network, define delays in the communication links, packet-dropout rates or induce error in the transmission of the packets. The user can test the system in a large number of possible scenarios and interact with the simulation by just drag-and-drop actions. Four cases of study are provided to show some of the capabilities of the simulation tool.

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Network, IEEE  (Volume:26 ,  Issue: 3 )