Title:
Simultaneous Cooperative Exploration and Networking based on Voronoi Diagrams
Simultaneous Cooperative Exploration and Networking based on Voronoi Diagrams
Author(s)
Kim, Jonghoek
Zhang, Fumin
Egerstedt, Magnus B.
Zhang, Fumin
Egerstedt, Magnus B.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
We develop a strategy that enables multiple intelligent vehicles to cooperatively
explore complex and dangerous territories. Every vehicle drops communication devices and
expands an information network while constructing a topological map based on the Voronoi
diagram. As the information network weaved by each vehicle grows, intersections eventually
happen so that the networks are shared. This allows for distributed vehicles to share information
with other vehicles that have also dropped communication devices. Our exploration algorithms
are provably complete under mild technical assumptions. A performance analysis of the
algorithms shows that in a bounded workspace, the time spent to complete the exploration
decreases in proportion to the number of vehicles employed. The algorithms are demonstrated
in simulation.
Sponsor
Date Issued
2009-10
Extent
Resource Type
Text
Resource Subtype
Proceedings