Towards an Indoor Testbed for Mobile Networked Control Systems

• In this paper, we consider the design of an indoor testbed composed of multiple aerial and ground unmanned vehicles for experimentation in Mobile Networked Control Systems. Taking several motivational aspects from both research and education into account, we propose an architecture to cope with the scale and mobility aspects of the overall system. Currently, the testbed is composed of several low-cost ARdrones quadrotors, small-scale heavy duty vehicles, wireless sensor nodes and a vision-based localization system. As an example, the automatic control of an ARdrone is shown.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Keyword

Quadrotors

ARdrones

Heavy-duty vehicles (HVDs)

Vision-based localization

Wireless Sensor Networks

Publication and Content Type

ref (subject category)

kon (subject category)