A mobile wireless sensor network architecture for collaborative tasks achievement by means of autonomous robot swarm

In this work, an experimental study of an intelligent distributed network where sensors and robots interact to solve collaborative tasks is presented. Thanks to the wireless connections among fixed and mobile (robot) nodes, a distributed sensing is realized as well as the achievement of a user-defined control task. In order to assess the feasibility of the proposed distributed control strategy as well as the reliability of the WSN-based mixed (fixed and mobile) robotic system, some preliminary experimental results concerned with the location of the most illuminated point in a room are shown.