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| Title: | Adaptive Triangular Mesh Generation of Self-configuring Robot Swarms |
| Authors: | Lee, Geunho
Chong, Nak Young
Christensen, Henrik |
| Keywords: | sensor network deployment
coverage
adaptive triangular mesh
local interaction |
| Issue Date: | 2009-05 |
| Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
| Magazine name: | IEEE International Conference on Robotics and Automation, 2009. ICRA '09. |
| Start page: | 2737 |
| End page: | 2742 |
| DOI: | 10.1109/ROBOT.2009.5152748 |
| Abstract: | We address the problem of dispersing a large number of autonomous mobile robots toward building wireless ad hoc sensor networks performing environmental monitoring and control. For the purpose, we propose the adaptive triangularmesh generation algorithm that enables robots to generatetriangular meshes of various sizes adapting to changing environmental conditions. A locally interacting, geometric technique allows robots to generate each triangular mesh with their two neighbor robots. Specifically, we have assumed that robots are not allowed to have the identifier, any pre-determined leaders or common coordinate systems, and any explicit communication. Under such minimal conditions, the positions of the robots were shown to converge to the desired distribution, which was mathematically proven and also verified through extensivesimulations. Our preliminary results indicate that the proposed algorithm can be applied to the problem regarding the coverage of an area of interest by a swarm of mobile sensors. |
| Rights: | Copyright (C) 2009 IEEE. Reprinted from IEEE International Conference on Robotics and Automation, 2009. ICRA '09., 2009, 2737-2742. 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/10119/9547 |
| Material Type: | publisher |
| Appears in Collections: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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