TY - JOUR
T1 - Sensor information sharing using a producer-consumer algorithm on small vehicles
AU - Vazquez-Lopez, Rodrigo
AU - Herrera-Lozada, Juan Carlos
AU - Sandoval-Gutierrez, Jacobo
AU - Bülow, Philipp von
AU - Martinez-Vazquez, Daniel Librado
N1 - Publisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2021/5/1
Y1 - 2021/5/1
N2 - There are several tools, frameworks, and algorithms to solve information sharing from multiple tasks and robots. Some applications such as ROS, Kafka, and MAVLink cover most problems when using operating systems. However, they cannot be used for particular problems that demand optimization of resources. Therefore, the objective was to design a solution to fit the resources of small vehicles. The methodology consisted of defining the group of vehicles with low performance or are not compatible with high-level known applications; design a reduced, modular, and compatible architecture; design a producer-consumer algorithm that adjusts to the simultaneous localization and communication of multiple vehicles with UWB sensors; validate the operation with an interception task. The results showed the feasibility of performing architecture for embedded systems compatible with other applications managing information through the proposed algorithm allowed to complete the interception task between two vehicles. Another result was to determine the system’s efficiency by scaling the memory size and comparing its performance. The work’s contributions show the areas of opportunity to develop architectures focusing on the optimization of robot resources and complement existing ones.
AB - There are several tools, frameworks, and algorithms to solve information sharing from multiple tasks and robots. Some applications such as ROS, Kafka, and MAVLink cover most problems when using operating systems. However, they cannot be used for particular problems that demand optimization of resources. Therefore, the objective was to design a solution to fit the resources of small vehicles. The methodology consisted of defining the group of vehicles with low performance or are not compatible with high-level known applications; design a reduced, modular, and compatible architecture; design a producer-consumer algorithm that adjusts to the simultaneous localization and communication of multiple vehicles with UWB sensors; validate the operation with an interception task. The results showed the feasibility of performing architecture for embedded systems compatible with other applications managing information through the proposed algorithm allowed to complete the interception task between two vehicles. Another result was to determine the system’s efficiency by scaling the memory size and comparing its performance. The work’s contributions show the areas of opportunity to develop architectures focusing on the optimization of robot resources and complement existing ones.
KW - Absolute position system
KW - Cooperative algorithm
KW - Indoor positioning
KW - Intercepting vehicles
KW - Robot framework
KW - UWB sensors
UR - http://www.scopus.com/inward/record.url?scp=85104593067&partnerID=8YFLogxK
U2 - 10.3390/s21093022
DO - 10.3390/s21093022
M3 - Artículo
C2 - 33923114
AN - SCOPUS:85104593067
SN - 1424-8220
VL - 21
JO - Sensors
JF - Sensors
IS - 9
M1 - 3022
ER -