Marsupial-like mobile robot societies
Proceedings of the third annual conference on Autonomous Agents
A Consensus Protocol for CAN-Based Systems
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
A Novel Research Approach on Network Control Systems
ICICSE '08 Proceedings of the 2008 International Conference on Internet Computing in Science and Engineering
Research on the Application of a Marsupial Robot for Coal Mine Rescue
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
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In search and rescue operations, time plays an important role; therefore, an automatic or teleoperated deployment service to bring rescue robots near to or on a target location is desired. We propose to use a distributed control architecture to automate an electric vehicle that, after instrumentation and automation, serves as carrier robot for smaller rescue robots. Distributed control architectures rely heavily on communication networks for information exchange. The control architecture discussed on this paper is based on Controller Area Network (CAN) protocol, to which different nodes have been attached. Three main control loops are closed through the network: speed, steering and deployment mechanism for transported rescue robots. Tests were carried out to prove reliability and effectiveness of the distributed control architecture. Such tests indicated that a distributed control network based on CAN protocol is suitable for controlling different loops at real time and in hostile environments.