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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/16111

Title: ロボット群の適応的な自己組織化及びその収束性
Authors: 神ノ尾, 淳
李, 根浩
丁, 洛榮
Keywords: Robot Swarm
Self-Configuration
Triangular Mesh Pattern Adaptation
Convergence Degree
Issue Date: 2017-01-25
Publisher: 日本機械学会
Magazine name: 日本機械学会論文集
Volume: 83
Number: 846
Start page: 16-00448
DOI: 10.1299/transjsme.16-00448
Abstract: This paper addresses the problem of the coordinated deployment of a swarm of mobile robots in an area with geographical constraints. The objective of our research is to investigate how to build an ad hoc network of robotic sensors in a real-world environment. For attaining scalability and robustness, it is desirable that each robot can configure themselves into an area through local interactions with adjacent robots, using only locally available information. Therefore, a decentralized deployment scheme is presented based on geometric ideas allowing robots to converge to the uniform spatial distribution by forming regular triangle lattices. The convergence of the deployment scheme is mathematically examined, and verified through extensive simulations and experiments. In addition, a new evaluation index is proposed, to estimate a relative convergence degree with respect to a desired geometric configuration. Our results indicate that the deployment scheme can be applied to the problem regarding the coverage of an area of interest by a swarm of mobile robotic sensors.
Rights: This is the author's version of a work accepted for publication by The Japan Society of Mechanical Engineers. Copyright (C) 2017 日本機械学会. 神ノ尾 淳, 李 根浩, 丁 洛榮, 日本機械学会論文集, 83(846), 2017, p.16-00448. http://dx.doi.org/10.1299/transjsme.16-00448
URI: http://hdl.handle.net/10119/16111
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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