Navigation strategy with multi-robots in confined environments to improve radio signal coverage

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dc.creatorSofia Pereira Campos
dc.creatorAndré Luiz Maciel Cid
dc.creatorArthur da C. Vangasse
dc.creatorGilmar P. Cruz Junior
dc.creatorJoão Baião
dc.creatorLuciano Cunha de Araújo Pimenta
dc.creatorLuiz Barros
dc.creatorGustavo Pessin
dc.creatorGustavo Medeiros Freitas
dc.date.accessioned2025-06-04T13:56:19Z
dc.date.accessioned2025-09-08T23:28:59Z
dc.date.available2025-06-04T13:56:19Z
dc.date.issued2023
dc.identifier.doi10.1109/LARS/SBR/WRE59448.2023.10333021
dc.identifier.urihttps://hdl.handle.net/1843/82772
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofLatin American Robotics Symposium (LARS 2023) / Brazilian Symposium on Robotics (SBR 2023) / Workshop on Robotics in Education (WRE 2023)
dc.rightsAcesso Restrito
dc.subjectRobótica
dc.subject.otherDams , Pipelines , Education , Radio navigation , Inspection , Repeaters , Software
dc.subject.otherNavigation Strategy , Multi-Robots , Confined Environments , Radio Signal Coverage , Mobile Robots
dc.subject.otherRadio Waves , Navigation Strategies , Signal Coverage , Line-of-sight , Mobile Robot , Wireless Coverage , Direct Line Of Sight , Inspection Activities , Theoretical Framework , Mean Square Error , Logarithmic Scale , Distance Function , Signal Strength , Signal Power , Wireless Networks , Propagation Model , Path Loss , Multi-agent Systems , Signal Decay , Directional Antenna , Omnidirectional Antenna , Robot Operating System , Multiple Robots , Radio Propagation , Path Loss Exponent , Distance In Meters , Nonholonomic , Power In Watts , Inspection Tasks , Presence Of Obstacles
dc.titleNavigation strategy with multi-robots in confined environments to improve radio signal coverage
dc.typeArtigo de evento
local.citation.epage6
local.citation.spage1
local.description.resumoSafely performing tasks in confined environments poses significant risks, often necessitating the use of mobile robots. However, one of the major challenges associated with utilizing mobile robots in these tasks is establishing effective communication between them, typically achieved through radios with limited coverage. To optimize radio signal coverage within such environments, this paper introduces a multi-robot navigation strategy. This strategy ensures a direct line of sight between radios, thereby enhancing communication during teleoperation. The effectiveness of the proposed strategy is evaluated through simulations conducted in CoppeliaSim and validated through a proof-of-concept experiment. Preliminary results are promising, highlighting a significant surge in radio signal coverage within confined environments, achieving an improvement of over 50% in the distance covered during inspection activities using mobile robots, thus facilitating the execution of tasks safely in previously inaccessible regions.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/10333021/authors#authors

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