Title:
Solving Coverage Problems with Embedded Graph Grammars
Solving Coverage Problems with Embedded Graph Grammars
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Author(s)
McNew, John-Michael
Klavins, Eric
Egerstedt, Magnus B.
Klavins, Eric
Egerstedt, Magnus B.
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Abstract
We show how Embedded Graph Grammars (EGGs) are used
to specify local interaction rules between mobile robots in a natural manner. This formalism allows us to treat local network topologies, geometric
transition conditions, and individual robot dynamics and control modes
in a unified framework. An example EGG is demonstrated that achieves
sensor coverage in a provably stable and correct manner. The algorithm
results in a global network with a lattice-like triangulation.
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Date Issued
2007-04
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Text
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Book Chapter