Wireless Agent Guidance of Remote Mobile Robots: Rough Integral Approach to Sensor Signal Analysis

A rough integral multiple sensor fusion model for wireless agent guidance of remote mobile robots is presented in this paper. A rough measure of sensor signal values provides a basis for a discrete form of rough integral that offers a means of aggregating sensor values and to estimate by means of a sensor signal how close robot is to a target region of space. By way of illustration, the actions of a collection of robots are controlled by a wireless system that connects a web agent (called a Guide Agent or GA) written in Java and pairs of Radio Packet Controller (RPCs) modules (one attached to a workstation and a second RPC on board a robot). The web GA analyzes robot sensors signals, communicates robot movement commands and assists other web agents in updating some parts of a web page that implements a real-time robot traffic control system. This web page displays the current configuration of a society of mobile robots (stopping, direction of movement, avoiding, wandering, mapping, and planning). Only a brief description of the web GA is given in this paper.

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