Title:
Adaptive triangular mesh generation of self-configuring robot swarms
Adaptive triangular mesh generation of self-configuring robot swarms
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Author(s)
Lee, Geunho
Chong, Nak Young
Christensen, Henrik I.
Chong, Nak Young
Christensen, Henrik I.
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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 triangular
mesh generation algorithm that enables robots to generate
triangular 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 extensive
simulations. 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.
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Date Issued
2009-05
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Article