Communication Dans Un Congrès Année : 2009

Effect of Packet Loss on the Quality of Control of a Networked Mobile Robot

Résumé

This paper describes a wireless network based control of a Khepera mobile robot moving in a WLAN distributed infrastructure. Due to the dependence of quality of control (QoC) over network quality of service (QoS), a simulation is performed for packet losses and compared to actual results in the lab environment. The network effects are examined and critical limit is determined for which control quality is acceptable. A Bayesian network approach is proposed for the decision of switching between the embedded and off-board controller as well as the horizontal handoff in multi-station scenario.

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Dates et versions

hal-00425023 , version 1 (19-10-2009)

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Identifiants

  • HAL Id : hal-00425023 , version 1

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Amine Mechraoui, Zeashan Hameed Khan, Jean-Marc Thiriet. Effect of Packet Loss on the Quality of Control of a Networked Mobile Robot. WRTP/RTS 2009 - 30th IFAC Workshop on Real-Time Programming and 4th InternationalWorkshop on Real-Time Software, Oct 2009, Mragowo, Poland. pp.97-101. ⟨hal-00425023⟩
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