Title :
MASmote -A Mobility Node for MAS-net (Mobile Actuator Sensor Networks)
Author :
Zhongmin Wang ; Zhen Song ; Peng-Yu Chen ; Arora, A. ; Storniont, D. ; Yang Quan Chen
Author_Institution :
Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT
Abstract :
This paper presents a new mobile robot platform (MASmote) acting as a sensing or actuation node with mobility in mobile actuator sensor networks (MAS-net). The hardware components and software architecture of MASmote are introduced in detail. The dynamic model of the MASmote is described and a low-level controller is designed to make the motion of these MAS-net nodes reliable and flexible. MASmote is built from commercial off-the-shelf components. Its small size, low cost, solid structure, and software modularity make it suitable for large-scale distributed mobile actuator and sensor network. The application of MASmote and MASmote system is exemplified in a scenario of diffusion process boundary tracing
Keywords :
actuators; controllers; distributed control; distributed sensors; large-scale systems; mobile robots; software architecture; MAS-net; MASmote system; diffusion process boundary tracing; distributed system; large-scale distributed mobile actuator; low-level controller; mobile actuator sensor networks; mobile robot; mobility node; software architecture; software modularity; Application software; Communication system control; Computer networks; Costs; Hardware; Intelligent actuators; Intelligent sensors; Mobile robots; Robot sensing systems; Sensor systems; distributed system; low-level control; mobile actuator sensor network (MAS-net); mobile robot; mobility platform; software modularity;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521889
