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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/7794

Title: Adaptive self-configurable robot swarms based on local interactions
Authors: Lee, Geunho
Chong, Nak Young
Issue Date: 2007
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007.
Start page: 4182
End page: 4187
DOI: 10.1109/IROS.2007.4399326
Abstract: This paper presents a motion planning framework for a large number of autonomous robots that enables the robots to configure themselves adaptively into an area of an arbitrary geometry. A locally interacting geometric technique provides a unique solution that allows the robots to converge to the uniform distribution by forming an equilateral triangle with their two neighbors. The basic idea underlying the proposed solution is that robots can be thought of as liquid particles that change their relative positions conforming to the shape of the container they occupy. Specifically, it is assumed that robots are not allowed to have the identification number, a pre-determined leader, a common coordinate system, and communication capabilities. Under such minimal conditions, the convergence of the algorithm is mathematically proved and verified through extensive simulations. The results validate the feasibility of applying the algorithm to self-configuration of mobile sensors across the constrained environment.
Rights: Copyright (C) 2007 IEEE. Reprinted from IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
URI: http://hdl.handle.net/10119/7794
Material Type: publisher
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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