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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9553

Title: Three Dimensional Deployment of Robot Swarms
Authors: Lee, Geunho
Nishimura, Yasuhiro
Tatara, Kazutaka
Chong, Nak Young
Keywords: robot swarms
local interaction
self-configuration
tetrahedron
3-D deployment
Issue Date: 2010-10-18
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Start page: 5073
End page: 5078
DOI: 10.1109/IROS.2010.5652055
Abstract: 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
Material Type: publisher
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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