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Contributions to Networked and Event-Triggered Control of Linear Systems pp 145–176Cite as

Simulation Tools and Application Example of the DEBC: Networked Mobile Robots

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Abstract

The formation control of networked mobile robots is an example of multi-agent systems in which a group of robots can achieve a common objective (the formation) by applying distributed control laws and event-based communications. This chapter gives a description of the problem, some of most common approaches to model these systems, and how the distributed event-triggered policies can be useful to reduce communication. An interactive simulator named MaSS (Multi-agent Systems Simulator) has been developed to emulate this kind of setups. The user interface of this tool is described, and the software implementation of the real counterparts is given. Some examples of usage are given to illustrate how the network and the model of the system can be configured interactively by the user. The DEBC algorithms have been also implemented in a testbed of real mobile robots, and the results are presented.

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Authors and Affiliations

  1. Departamento de Informática y Automática, Universidad Nacional de Educación a Distancia (UNED), Madrid, Spain

    María Guinaldo Losada

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  1. María Guinaldo Losada
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Correspondence to María Guinaldo Losada .

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Guinaldo Losada, M. (2016). Simulation Tools and Application Example of the DEBC: Networked Mobile Robots. In: Contributions to Networked and Event-Triggered Control of Linear Systems. Springer Theses. Springer, Cham. https://doi.org/10.1007/978-3-319-34081-4_6

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  • DOI: https://doi.org/10.1007/978-3-319-34081-4_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-34080-7

  • Online ISBN: 978-3-319-34081-4

  • eBook Packages: EngineeringEngineering (R0)

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