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Sensor Information Sharing Using a Producer-Consumer Algorithm on Small Vehicles.

Rodrigo Vazquez-Lopez1, Juan Carlos Herrera-Lozada1, Jacobo Sandoval-Gutierrez2

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Summary
This summary is machine-generated.

This study developed a resource-optimized architecture for small vehicles, enabling efficient information sharing and simultaneous localization for tasks like robot interception. The new system complements existing frameworks for embedded systems.

Keywords:
UWB sensorsabsolute position systemcooperative algorithmindoor positioningintercepting vehiclesrobot framework

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Area of Science:

  • Robotics
  • Embedded Systems
  • Computer Science

Background:

  • Existing information sharing tools (ROS, Kafka, MAVLink) are unsuitable for resource-constrained robotic systems.
  • There is a need for optimized solutions for small vehicles with limited computational power.

Purpose of the Study:

  • To design a resource-optimized, modular, and compatible architecture for small vehicles.
  • To develop a producer-consumer algorithm for simultaneous localization and communication using Ultra-Wideband (UWB) sensors.
  • To validate the system's feasibility with an interception task.

Main Methods:

  • Defined a vehicle group with low-performance constraints.
  • Designed a reduced, modular architecture compatible with embedded systems.
  • Developed a producer-consumer algorithm for multi-vehicle UWB-based localization and communication.
  • Validated the system through an interception task and performance scaling analysis.

Main Results:

  • Demonstrated the feasibility of the proposed architecture for embedded systems.
  • Successfully completed an interception task between two vehicles using the developed algorithm.
  • Assessed system efficiency by scaling memory size and evaluating performance.

Conclusions:

  • The designed architecture and algorithm are effective for resource-optimized information sharing in small vehicles.
  • The solution complements existing robotic frameworks by addressing limitations in resource management.
  • Further development opportunities exist in creating architectures focused on robot resource optimization.