ICRA'09 Paper Abstract


Paper FrC13.5

Lee, Geunho (Japan Advanced Inst. of Sci. & Tech), Chong, Nak Young (Japan Advanced Inst. of Sci. and Tech.), Christensen, Henrik Iskov (Georgia Institute of Technology)

Adaptive Triangular Mesh Generation of Self-Configuring Robot Swarms

Scheduled for presentation during the Regular Sessions "Distributed Robot Systems - III" (FrC13), Friday, May 15, 2009, 14:50−15:10, Room: 505

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Distributed Robot Systems, Networked Robots, Sensor Networks


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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