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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/8489

Title: Self-configurable mobile robot swarms with hole repair capability
Authors: Lee, Geunho
Chong, Nak Young
Issue Date: 2008-09
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.
Start page: 1403
End page: 1408
DOI: 10.1109/IROS.2008.4650696
Abstract: We address the problem of deploying a swarm of autonomous mobile robots toward building an ad hoc network of robotic sensors with spatial uniform density. For the purpose, each of the robots configures themselves into an area with geographical constraints through local interactions with two adjacent neighboring robots. The basic idea underlying this work is that robots can be thought of as liquid particles that change their positions conforming to the shape of the container they occupy. The main challenge is how to cope with the accuracy limitations of sensors and possible holes in the configuration. Considering such realistic conditions, the convergence of the proposed method is proved using Lyapunovpsilas theorem. The proposed method is verified to be effective through the simulation for the secure deployments of robotic sensor network.
Rights: Copyright (C) 2008 IEEE. Reprinted from IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008., 1403-1408. 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/10119/8489
Material Type: publisher
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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