| The Mobile Actuator and Sensor Network (MAS-net) is a system that combines wireless sensor network and robotics for the monitoring, characterization, and distributed control of a diffusion process. Small-scale mobile robots with limited sensing and wireless communication capabilities are built that can cooperate with each other to fulfill common tasks.; The architecture of the robots with low-level controller is presented. Nonlinear compensation methods are used to achieve accurate and flexible robot servo control. Then, the formation control and its potential applications in MAS-net are discussed.; To achieve an effective distributed control of a diffusion process, a model-free approach based on the centroidal Voronoi diagram has been developed. Obstacle avoidance mechanism has been added to our distributed control framework. Furthermore, a centroidal Voronoi diagram is used to achieve area coverage and target tracking for mobile robots. Automatic flocking behavior of robots is observed and explained. |
