ICRA 2011 Paper Abstract


Paper WeP113.5

Derbakova, Anna (University of North Carolina at Chapel Hill), Correll, Nikolaus (University of Colorado at Boulder), Rus, Daniela (MIT)

Decentralized Self-Repair to Maintain Connectivity and Coverage in Networked Multi-Robot Systems

Scheduled for presentation during the Regular Sessions "Networked Robots" (WeP113), Wednesday, May 11, 2011, 14:40−14:55, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Networked Robots, Sensor Networks, Distributed Robot Systems


We present a suite of algorithms that enable a team of mobile robots to repair connectivity in a wireless mesh network. Each robot carries a wireless router and can act as a mobile access point. The algorithms are distributed, with each robot computing itís trajectory using its position, the positions of its neighbors within communication range, and the position of a gateway node. The algorithms are validated via an analytical model as well as field experiments with 7 Create robots.



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