%0 Journal Article
%T A Mobile Robots Experimental Environment with Event-Based Wireless Communication
%A Mar¨ªa Guinaldo
%A Ernesto F¨¢bregas
%A Gonzalo Farias
%A Sebasti¨¢n Dormido-Canto
%A Dictino Chaos
%A Jos¨¦ S¨¢nchez
%A Sebasti¨¢n Dormido
%J Sensors
%D 2013
%I MDPI AG
%R 10.3390/s130709396
%X An experimental platform to communicate between a set of mobile robots through a wireless network has been developed. The mobile robots get their position through a camera which performs as sensor. The video images are processed in a PC and a Waspmote card sends the corresponding position to each robot using the ZigBee standard. A distributed control algorithm based on event-triggered communications has been designed and implemented to bring the robots into the desired formation. Each robot communicates to its neighbors only at event times. Furthermore, a simulation tool has been developed to design and perform experiments with the system. An example of usage is presented.
%K distributed control systems
%K mobile robots
%K multi-agent systems
%K wireless communications
%K embedded systems
%U http://www.mdpi.com/1424-8220/13/7/9396