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Distributed Mobile Robot Localization and Communication System for Special Interventions

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comunitat-uji-handle:10234/9

comunitat-uji-handle2:10234/29747

comunitat-uji-handle3:10234/162753

TESIS

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Title
Distributed Mobile Robot Localization and Communication System for Special Interventions
Author (s)
Sales Gil, Jorge
Director
Cervera Mateu, Enric; Marín Prades, Raúl
Department
Universitat Jaume I. Departament d'Enginyeria i Ciència dels Computadors
Date of defense
2011-10-28
ISBN
978-84-695-3715-2
URI
http://hdl.handle.net/10803/78871
Publisher
Universitat Jaume I
Subject
Localization | Low-visibility | Smoke | Risky environment | Laser rangefinder | Ultrasound | TDoA | Communications | Network protocols | Visual servoing
Keywords
Ciència de la Computació i Inteligència Artificial
Pages
352 p.;
Abstract
This thesis focuses on the development of a distributed mobile robot localization and communication system for special interventions like those carried out by fire-fighters in fire ground search and rescue. The use ... [+]
This thesis focuses on the development of a distributed mobile robot localization and communication system for special interventions like those carried out by fire-fighters in fire ground search and rescue. The use case scenario is related to the one described for the GUARDIANS EU project, where a swarm formation of mobile robots accompany a fire fighter during a rescue intervention in a warehouse. In this line, localizing the robots and the fire fighter during an indoor intervention with the presence of smoke is one of the more interesting challenges in this scenario. Several localization techniques have been developed using ultrasonic sensors, radio frequency signals and visual information. It has also been studied several communication protocols that can help to improve the efficiency of the system in such scenario and a proposal for designing a cross-layer communication platform that improves the connectivity of the mobile nodes during an intervention and reduces the number of lost data packets. [-]
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ADVERTIMENT. L'accés als continguts d'aquesta tesi doctoral i la seva utilització ha de respectar els drets de la persona autora. Pot ser utilitzada per a consulta o estudi personal, així com en activitats o materials d'investigació i docència en els termes establerts a l'art. 32 del Text Refós de la Llei de Propietat Intel·lectual (RDL 1/1996). Per altres utilitzacions es requereix l'autorització prèvia i expressa de la persona autora. En qualsevol cas, en la utilització dels seus continguts caldrà indicar de forma clara el nom i cognoms de la persona autora i el títol de la tesi doctoral. No s'autoritza la seva reproducció o altres formes d'explotació efectuades amb finalitats de lucre ni la seva comunicació pública des d'un lloc aliè al servei TDX. Tampoc s'autoritza la presentació del seu contingut en una finestra o marc aliè a TDX (framing). Aquesta reserva de drets afecta tant als continguts de la tesi com als seus resums i índexs.
info:eu-repo/semantics/openAccess
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  • Programa de Doctorat en Informàtica [61]

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Our content is published in:

HispanaEuropeanaRePEc: Research Papers in EconomicsTesis Doctorals en XarxaGoogle ScholarRecolectaOpenDOARRevistes Catalanes d'Accés ObertOpenAIREMaterials Docents en Xarxa

Ministerio This project has received a grant from the Dirección General del Libro, Archivos y Bibliotecas of the Spanish Ministry of Culture.
DSpace
Metadata subject to:Public Domain | Information and queries:biblioteca@uji.es | Security and privacy center | Legal Advice
Universitat Jaume I - Av. de Vicent Sos Baynat, s/n 12071 Castelló de la Plana, Spain - Phone: +34 964 72 87 61 Fax: +34 964 72 87 78