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15243 FollowMe! Mobile Team Coordination in Wireless Sensor and Actuator Networks
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Bosch, S. and Marin-Perianu, M. and Marin-Perianu, R.S. and Scholten, J. and Havinga, P.J.M. (2009) FollowMe! Mobile Team Coordination in Wireless Sensor and Actuator Networks. In: Proceedings of the IEEE International Conference on Pervasive Computing and Communications 2009, 9-13 Mar 2009, Galveston, Texas, USA. pp. 151-161. IEEE Computer Society. ISBN 978-1-4244-3304-9

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Autonomous vehicles are used in areas hazardous
to humans, with significantly greater utility than the equivalent, manned vehicles. This paper explores the idea of a coordinated team of autonomous vehicles, with applications in cooperative surveillance, mapping unknown areas, disaster management or space exploration. Each vehicle is augmented with a wireless sensor node with movement sensing capabilities. One of the vehicles is the leader and is manually controlled by a remote controller. The rest of the vehicles are autonomous followers controlled by wireless actuator nodes. Speed and orientation
are computed by the sensor nodes 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. The solution is not restricted to vehicles on wheels, but supports any moving entities capable of determining their velocity and heading, thus opening promising perspectives for machine-to-machine and
human-to-machine spontaneous interactions in the field.

Item Type:Conference or Workshop Paper (Full Paper, Talk)
Research Group:EWI-PS: Pervasive Systems
Research Program:CTIT-WiSe: Wireless and Sensor Systems
Research Project:SENSEI: Integrating the PhySical with the Digital World of the Network of the Future
Uncontrolled Keywords:Wireless Sensor and Actuator Networks, Fuzzy Logic, Control, Inertial Sensing
ID Code:15243
Deposited On:06 April 2009
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