2024-03-29T10:14:44Zhttps://www.tdx.cat/oai/requestoai:www.tdx.cat:10803/788712023-06-09T08:27:22Zcom_10803_480col_10803_387219
nam a 5i 4500
Localization
Low-visibility
Smoke
Risky environment
Laser rangefinder
Ultrasound
TDoA
Communications
Network protocols
Visual servoing
Distributed Mobile Robot Localization and Communication System for Special Interventions
[Castelló] :
Universitat Jaume I,
2012
Accés lliure
http://hdl.handle.net/10803/78871
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AAMMDDs2012 sp ||||fsm||||0|| 0 eng|c
978-84-695-3715-2
Sales Gil, Jorge,
autor
1 recurs en línia (352 pàgines)
Tesi
Doctorat
Universitat Jaume I. Departament d'Enginyeria i Ciència dels Computadors
2011
Universitat Jaume I. Departament d'Enginyeria i Ciència dels Computadors
Tesis i dissertacions electròniques
Cervera Mateu, Enric,
supervisor acadèmic
Marín Prades, Raúl,
supervisor acadèmic
TDX
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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