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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/11622

Title: Networking Humans, Robots, and Environments: Self-Configurable Mobile Robot Swarms: Adaptive Triangular Mesh Generation
Authors: Lee, Geunho
Chong, Nak Young
Keywords: sensor network
robot swarms
local interaction
environmental monitoring
adaptive triangular mesh
Issue Date: 2013
Publisher: Bentham Science Publishers
Start page: 59
End page: 75
DOI: 10.2174/97816080573131130101
Abstract: We address the problem of dispersing a large number of autonomous mobile robots, for building wireless ad hoc sensor networks performing environmental monitoring and control. For this purpose, we propose the adaptive triangular mesh generation algorithm that enables robots to generate triangular meshes of various sizes, adapting to changing environmental conditions. A locally interacting, geometric technique allows each robot to generate a triangular mesh with its two neighbor robots. Specifically, we have assumed that robots are not allowed to have any identifiers, any pre-determined leaders or common coordinate systems, or any explicit communication. Under such minimal conditions, the positions of the robots were shown to converge to the desired distribution. This convergence was mathematically proven and also verified through extensive simulations. Our results indicate that the proposed algorithm can be applied to problems regarding the coverage of an area of interest by a swarm of mobile sensors.
Rights: This material is posted here with permission of Bentham Science Publishers. Copyright (C) 2013 Bentham Science Publishers. Geunho Lee and Nak Young Chong (2013). Self-Configurable Mobile Robot Swarms: Adaptive Triangular Mesh Generation. In Nak Young Chong (Eds.) Networking Humans, Robots and Environments. Bentham Science Publishers, pp.59-75. http://dx.doi.org/10.2174/97816080573131130101
URI: http://hdl.handle.net/10119/11622
Material Type: author
Appears in Collections:b10-2. 図書 (Book, Book Chapter)

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