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Pregled bibliografske jedinice broj: 602149

Zbornik radova

Autori: Nađ, Đula; Lugarić, Tomislav; Mišković, Nikola; Vukić, Zoran
Naslov: Distributed Frameworks in Control and Navigation of Small Underwater Vehicles
Izvornik: Proceedings of the 10th IFAC Symposium on Robot Control SYROCO2012 / Petrovic, Ivan ; Korondi, Peter (ur.). - Kidlington : Elsevier Limited , 2012. 224-228 (ISBN: 978-3-902823-11-3).
ISSN: 1474-6670
Skup: 10th IFAC Symposium on Robot Control SYROCO2012
Mjesto i datum: Dubrovnik, Hrvatska, 05-07.09.2012.
Ključne riječi: Mobile robots and vehicles; Underwater robotics
Sažetak:
Distributed systems are pervasive in the process industry but less so in underwater robotics. Development of open-source frameworks, targeted at mobile systems, increases applicability of distributed techniques in vehicle control. Most often supervisory control is implemented in a distributed framework while low-level control is kept in the embedded system. This approach allows sharing of sensor data, logging and increased reconfigurability of high level controllers. Meantime, the embedded system offers precise timing and reliable behaviour. Alternatively, the low-level control can be moved into the distributed framework to allow easier reconfiguration and prototyping. In this paper we describe the architecture used for low-level control and analyze its performance in the MOOS and ROS distributed frameworks.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Temeljne tehničke znanosti
URL Internet adrese: http://www.ifac-papersonline.net/Detailed/55737.html
Upisao u CROSBI: dnad@fer.hr (dnad@fer.hr), 6. Stu. 2012. u 22:05 sati



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