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| Title: | Robust Self-Deployment for a Swarm of Autonomous Mobile Robots with Limited Visibility Range |
| Authors: | Lee, Geunho
Chong, Nak Young
Defago, Xavier |
| Issue Date: | 2007-08 |
| Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
| Magazine name: | The 16th IEEE International Symposium on Robot and Human interactive Communication, 2007. RO-MAN 2007. |
| Start page: | 925 |
| End page: | 930 |
| DOI: | 10.1109/ROMAN.2007.4415216 |
| Abstract: | In this study, we focus on a self-deployment problem for a swarm of autonomous mobile robots that can be used to build a sensor networking infrastructure with equilateral triangle lattice configurations. In order to deploy the swarm, this paper proposes a self-stabilizing distributed self- deployment algorithm under a robot model with the following features: no identification numbers, no common coordinates, no predetermined leader, no memory for past actions and implicit communication. Regardless of the restricted model, our proposed algorithm based on local interactions provides a solution for the self-deployment problem. Moreover, the algorithm provides robust capability of swarm connectivity in spite of loss of several robots. We discuss in details the features of the algorithm, including self-organization, self-stabilization, and robustness. A simulation study demonstrates the validity of the algorithm. |
| Rights: | Copyright (C) 2007 IEEE. Reprinted from The 16th IEEE International Symposium on Robot and Human interactive Communication, 2007. RO-MAN 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/10119/7806 |
| Material Type: | publisher |
| Appears in Collections: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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