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Cooperation among devices with different sensing, computing and
communication capabilities provides interesting possibilities in a growing number
of problems and applications including domotics (domestic robotics), environmental
monitoring or intelligent cities, among others. Despite the increasing interest in academic
and industrial communities, experimental tools for evaluation and comparison of cooperative
algorithms for such heterogeneous technologies are still very scarce. This paper presents a
remote testbed with mobile robots and Wireless Sensor Networks (WSN) equipped with
a set of low-cost off-the-shelf sensors, commonly used in cooperative perception research
and applications, that present high degree of heterogeneity in their technology, sensed
magnitudes, features, output bandwidth, interfaces and power consumption, among others.
Its open and modular architecture allows tight integration and interoperability between
mobile robots and WSN through a bidirectional protocol that enables full interaction.
Moreover, the integration of standard tools and interfaces increases usability, allowing an
easy extension to new hardware and software components and the reuse of code. Different
levels of decentralization are considered, supporting from totally distributed to centralized
approaches. Developed for the EU-funded Cooperating Objects Network of Excellence
(CONET) and currently available at the School of Engineering of Seville (Spain), the
testbed provides full remote control through the Internet. Numerous experiments have been
performed, some of which are described in the paper.Unión Europea INFSO-ICT-224053Unión Europea FP7-INFSO-ICT-257649Junta de Andalucía P09-TIC-512
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