Title:
Automatic Formation Deployment of Decentralized Heterogeneous Multiple-Robot Networks with Limited Sensing Capabilities
Automatic Formation Deployment of Decentralized Heterogeneous Multiple-Robot Networks with Limited Sensing Capabilities
Author(s)
Smith, Brian Stephen
Wang, Jiuguang
Egerstedt, Magnus B.
Howard, Ayanna M.
Wang, Jiuguang
Egerstedt, Magnus B.
Howard, Ayanna M.
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Abstract
Heterogeneous multi-robot networks require novel
tools for applications that require achieving and maintaining
formations. This is the case for distributing sensing devices
with heterogeneous mobile sensor networks. Here, we consider
a heterogeneous multi-robot network of mobile robots. The
robots have a limited range in which they can estimate the
relative position of other network members. The network
is also heterogeneous in that only a subset of robots have
localization ability. We develop a method for automatically
configuring the heterogeneous network to deploy a desired
formation at a desired location. This method guarantees that
network members without localization are deployed to the
correct location in the environment for the sensor placement.
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Date Issued
2009-05
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Article
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