01211nas a2200217 4500008004100000245010200041210006900143260000900212300001400221520049500235653002100730653001300751100001700764700001300781700001700794700001500811700001400826700001500840700001900855856011900874 2007 eng d00aA Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems0 aComponentBased Approach to Localization and Collision Avoidance  cJuly a4285-42923 a

In the RUNES project a disaster relief tunnel scenario is being developed in which mobile robots are used to restore the radio network connectivity in a stationary sensor network. A component-based software development approach has been adopted. Two components are described in this paper. A localization component that uses ultrasound and dead reckoning to decide the robot positions and a collision avoidance component that ensures that the robots do not collide with each other.

10aEmbedded Control10aRobotics1 aAlriksson, P1 aNordh, J1 aArzén, K -E1 aBicchi, A.1 aDanesi, A1 aSchiavi, R1 aPallottino, L. uhttp://95.110.227.16/publications/component-based-approach-localization-and-collision-avoidance-mobile-multi-agent02009nas a2200217 4500008004100000245007400041210006900115300001200184490000700196520134900203653002101552653001301573100001701586700001501603700001201618700001401630700001901644700001501663700001201678856010101690 2007 eng d00aA component-based approach to the design of networked control systems0 acomponentbased approach to the design of networked control syste a261-2790 v133 a

Component-based techniques revolve around composable, reusable software objects that shield the application level software from the details of the hardware and lowlevel software implementation and vice versa. Components provide many benefits that have led to their wide adoption in software and middleware developed for embedded systems: They are well-defined entities that can be replaced without affecting the rest of the systems, they can be developed and tested separately and integrated later, and they are reusable. Clearly such features are important for the design of large-scale complex systems more generally, beyond software architectures. We propose the use of a component approach to address embedded control problems. We outline a general componentbased framework to embedded control and show how it can be instantiated in specific problems that arise in the control over/of sensor networks. Building on the middleware component framework developed under the European project RUNES, we develop a number of control-oriented components necessary for the implementation of control applications and design their integration. The paper provides the overview of the approach, discusses a real life application where the approach has been tested and outlines a number of specific control problems that arise in this application.

10aEmbedded Control10aRobotics1 aArzén, K -E1 aBicchi, A.1 aDini, G1 aHailes, S1 aJohansson, K H1 aLygeros, J1 aTzes, A uhttp://95.110.227.16/publications/component-based-approach-design-networked-control-systems.html01552nas a2200193 4500008004100000245006900041210006200110260000900172300001200181520095300193653002101146653001301167100001701180700001501197700001401212700001901226700001501245856009801260 2006 eng d00aOn the Design and Control of Wireless Networked Embedded Systems0 aDesign and Control of Wireless Networked Embedded Systems bIEEE a440-4453 a

Wireless networked embedded systems are becoming increasingly important in a wide area of technical fields. In this tutorial paper we present recent results on design and control of these systems developed within the project Reconfigurable Ubiquitous Networked Embedded Systems (RUNES), which is an European Integrated Project with the aim to control complexity in networked embedded systems by developing robust and scalable middleware systems. New components for control under varying network conditions are discussed for the RUNES architecture. The complexity of the closed-loop system is increased due to the coupling with the disturbances introduced by the communication system. The network may introduce additional delays, jitter, data rate limitations, packet losses etc. Experimental work on integration test beds that demonstrates these results is shown together with motivating links to the RUNES disaster relief tunnel scenario.

10aEmbedded Control10aRobotics1 aArzén, K -E1 aBicchi, A.1 aHailes, S1 aJohansson, K H1 aLygeros, J uhttp://95.110.227.16/publications/design-and-control-wireless-networked-embedded-systems.html