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http://hdl.handle.net/10119/9553
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| タイトル: | Three Dimensional Deployment of Robot Swarms |
| 著者: | Lee, Geunho
Nishimura, Yasuhiro
Tatara, Kazutaka
Chong, Nak Young |
| キーワード: | robot swarms
local interaction
self-configuration
tetrahedron
3-D deployment |
| 発行日: | 2010-10-18 |
| 出版者: | Institute of Electrical and Electronics Engineers (IEEE) |
| 誌名: | The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| 開始ページ: | 5073 |
| 終了ページ: | 5078 |
| DOI: | 10.1109/IROS.2010.5652055 |
| 抄録: | This paper addresses the deployment problem for a swarm of autonomous mobile robots initially randomly distributed in 3 dimensional space. A fully decentralized geometric self-configuration approach is proposed to deploy individual robots at a given spatial density. Specifically, each robot interacts with three neighboring robots in a selective and dynamic fashion without using any explicit communication so that four robots eventually form a regular tetrahedron.Using such local interactions, the proposed algorithms enable a swarm of robots to span a network of regular tetrahedrons in a designated space. The convergence of the algorithms is theoretically proved using Lyapunov theory. Through extensive simulations, we validate the effectiveness and scalability of the proposed algorithms. |
| Rights: | Copyright (C) 2010 IEEE. Reprinted from The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, 5073-5078. 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/10119/9553 |
| 資料タイプ: | publisher |
| 出現コレクション: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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