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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/11411

Title: Adaptive Lattice Deployment of Robot Swarms Based on Local Triangular Interactions
Authors: Nishimura, Yasuhiro
Lee, Geunho
Chong, Nak Young
Keywords: swarm robots
adaptive triangular configuration
Delaunay triangulation
multi-robot coordination
Issue Date: 2012-11
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Start page: 279
End page: 284
DOI: 10.1109/URAI.2012.6462994
Abstract: This paper addresses the adaptively latticed deployment problem for a swarm of autonomous mobile robots. As our decentralized solution, an adaptive triangle generation algorithm is proposed to allow individual robots to form different equilateral triangular configurations depending on their local distributions. Specifically, Delaunay triangulation is applied to examine a local distribution composed of triangles generated around each robot. From the computation of the local distribution, each robot determines an adequate side length and enables to form an equilateral triangle with the side length. In addition, two convergence conditions are considered according to the controlling way of the side length. By using the proposed algorithm, robot swarms can self-configure themselves while adapting to their distribution conditions. Through extensive simulations, we verify the effectiveness of the proposed algorithm.
Rights: This is the author's version of the work. Copyright (C) 2012 IEEE. 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2012, 279-284. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/11411
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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