Coordinated control of mobile antennas for ad hoc networks
by Gianluca Antonelli, Filippo Arrichiello, Stefano Chiaverini, Roberto Setola
International Journal of Modelling, Identification and Control (IJMIC), Vol. 1, No. 1, 2006

Abstract: This paper investigates the implementation of a wireless mobile ad hoc network to guarantee that an autonomous agent (an autonomously driven mobile vehicle or a human), remains connected to a fixed base station while performing its own mission. To this purpose, the use of a platoon of mobile robots is proposed to carry a number of repeater antennas; these are suitably moved to dynamically ensure a multi hop communication link to the moving agent, hence extending and adapting the area covered by the sole base station. Self-configuration of the robots' platoon is achieved by a singularity-robust task-priority inverse kinematics algorithm via the definition of suitable task functions. The obtained simulation results show the effectiveness of the proposed approach.

Online publication date: Fri, 13-Jan-2006

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