Catálogo de publicaciones - libros

We develop a network of distributed mobile sensor systems as a solution to the emergency response problem. The mobile sensors are inside a building and they form a connected ad-hoc network. We discuss cooperative localization algorithms for these nodes. The sensors collect temperature data and run a distributed algorithm to assemble a temperature gradient. The mobile nodes are controlled to navigate using this temperature gradient. We also discuss how such networks can assist human users to find an exit. We have conducted an experiment at a facility used to train firefighters in order to understand the environment and to test component technology. Results from experiments at this facility as well as simulations are presented here.

A robot which could spray chemicals under grapevine trellis was developed and experimented. From the experimental results, it was observed that the robot system made precise spraying operation and its precise operation record possible. Based on the precise operations and records, an optimum management of chemicals could be expected, that is, necessary amount of chemicals would be sprayed only at necessary places for protection of environment and ecosystem. In addition, it was considered that this robot would be able to contribute the minimum input-maximum output production system by establishment of traceability system in grape production.

The problem of planning reference trajectories for agricultural machines is considered. A path planning algorithm to perform various kinds of farm-works is described. The case of convex fields is first considered. A direction of work being given, the algorithm determines the turning areas and selects a trajectory which guarantees the complete field coverage while minimizing overlapping. The method is extended to the case of fields with more complex shape including possibly obstacles. Simulations are proposed to illustrate the reasoning.