{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,17]],"date-time":"2025-12-17T08:24:47Z","timestamp":1765959887709,"version":"build-2065373602"},"reference-count":32,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2017,5,3]],"date-time":"2017-05-03T00:00:00Z","timestamp":1493769600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Spanish &quot;Ministerio de Econom\u00eda y Competitividad&quot; (MINECO\/FEDER)","award":["TRA2015-70501-C2-2-R"],"award-info":[{"award-number":["TRA2015-70501-C2-2-R"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this article, we present a CAN-based (Controller Area Network) distributed system to integrate sensors, actuators and hardware controllers in a mobile robot platform. With this work, we provide a robust, simple, flexible and open system to make hardware elements or subsystems communicate, that can be applied to different robots or mobile platforms. Hardware modules can be connected to or disconnected from the CAN bus while the system is working. It has been tested in our mobile robot Rato, based on a RWI (Real World Interface) mobile platform, to replace the old sensor and motor controllers. It has also been used in the design of two new robots: BellBot and WatchBot. Currently, our hardware integration architecture supports different sensors, actuators and control subsystems, such as motor controllers and inertial measurement units. The integration architecture was tested and compared with other solutions through a performance analysis of relevant parameters such as transmission efficiency and bandwidth usage. The results conclude that the proposed solution implements a lightweight communication protocol for mobile robot applications that avoids transmission delays and overhead.<\/jats:p>","DOI":"10.3390\/s17051013","type":"journal-article","created":{"date-parts":[[2017,5,3]],"date-time":"2017-05-03T12:24:47Z","timestamp":1493814287000},"page":"1013","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Distributed and Modular CAN-Based Architecture for Hardware Control and Sensor Data Integration"],"prefix":"10.3390","volume":"17","author":[{"given":"Diego P.","family":"Losada","sequence":"first","affiliation":[{"name":"Robotics and Control Unit, AIMEN Technology Centre, Porri\u00f1o 36410, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joaqu\u00edn","family":"Fern\u00e1ndez","sequence":"additional","affiliation":[{"name":"Department of System Engineering and Automation, University of Vigo, Vigo 36310, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Enrique","family":"Paz","sequence":"additional","affiliation":[{"name":"Department of System Engineering and Automation, University of Vigo, Vigo 36310, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rafael","family":"Sanz","sequence":"additional","affiliation":[{"name":"Department of System Engineering and Automation, University of Vigo, Vigo 36310, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,5,3]]},"reference":[{"key":"ref_1","unstructured":"Montemerlo, M., Roy, N., and Thrun, S. 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