{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,3]],"date-time":"2025-11-03T13:31:07Z","timestamp":1762176667599,"version":"build-2065373602"},"reference-count":44,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2013,7,22]],"date-time":"2013-07-22T00:00:00Z","timestamp":1374451200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>An experimental platform to communicate between a set of mobile robots through a wireless network has been developed. The mobile robots get their position through a camera which performs as sensor. The video images are processed in a PC and a Waspmote card sends the corresponding position to each robot using the ZigBee standard. A distributed control algorithm based on event-triggered communications has been designed and implemented to bring the robots into the desired formation. Each robot communicates to its neighbors only at event times. Furthermore, a simulation tool has been developed to design and perform experiments with the system. An example of usage  is presented.<\/jats:p>","DOI":"10.3390\/s130709396","type":"journal-article","created":{"date-parts":[[2013,7,23]],"date-time":"2013-07-23T13:28:05Z","timestamp":1374586085000},"page":"9396-9413","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":28,"title":["A Mobile Robots Experimental Environment with Event-Based Wireless Communication"],"prefix":"10.3390","volume":"13","author":[{"given":"Mar\u00eda","family":"Guinaldo","sequence":"first","affiliation":[{"name":"Department of Computer Science and Automatic Control, UNED, Juan del Rosal 16,  Madrid 28040, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4478-6626","authenticated-orcid":false,"given":"Ernesto","family":"F\u00e1bregas","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Automatic Control, UNED, Juan del Rosal 16,  Madrid 28040, Spain"}]},{"given":"Gonzalo","family":"Farias","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Pontificia Universidad Cat\u00f3lica de Valparaiso, Av. Brasil 2147, Valparaiso, Chile"}]},{"given":"Sebasti\u00e1n","family":"Dormido-Canto","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Automatic Control, UNED, Juan del Rosal 16,  Madrid 28040, Spain"}]},{"given":"Dictino","family":"Chaos","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Automatic Control, UNED, Juan del Rosal 16,  Madrid 28040, Spain"}]},{"given":"Jos\u00e9","family":"S\u00e1nchez","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Automatic Control, UNED, Juan del Rosal 16,  Madrid 28040, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2405-8771","authenticated-orcid":false,"given":"Sebasti\u00e1n","family":"Dormido","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Automatic Control, UNED, Juan del Rosal 16,  Madrid 28040, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2013,7,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1109\/TMECH.2009.2013617","article-title":"The sensor-based random graph method for cooperative robot exploration","volume":"14","author":"Franchi","year":"2009","journal-title":"IEEE ASME Trans. 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