Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
A fuzzy modeling approach to decision fusion under uncertainty
Fuzzy Sets and Systems
SensorFlock: an airborne wireless sensor network of micro-air vehicles
Proceedings of the 5th international conference on Embedded networked sensor systems
Learning for control from multiple demonstrations
Proceedings of the 25th international conference on Machine learning
D-FLER: a distributed fuzzy logic engine for rule-based wireless sensor networks
UCS'07 Proceedings of the 4th international conference on Ubiquitous computing systems
Coordinated multi-robot exploration
IEEE Transactions on Robotics
Decentralized overlapping control of a formation of unmanned aerial vehicles
Automatica (Journal of IFAC)
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A coordinated team of mobile wireless sensor and actuator nodes can bring numerous benefits for various applications in the field of cooperative surveillance, mapping unknown areas, disaster management, automated highway and space exploration. This article explores the idea of mobile nodes using vehicles on wheels, augmented with wireless, sensing, and control capabilities. One of the vehicles acts as a leader, being remotely driven by the user, the others represent the followers. Each vehicle has a low-power wireless sensor node attached, featuring a 3D accelerometer and a magnetic compass. Speed and orientation are computed in real time using inertial navigation techniques. The leader periodically transmits these measures to the followers, which implement a lightweight fuzzy logic controller for imitating the leader's movement pattern. We report in detail on all development phases, covering design, simulation, controller tuning, inertial sensor evaluation, calibration, scheduling, fixed-point computation, debugging, benchmarking, field experiments, and lessons learned.