Adaptive triangular mesh generation of self-configuring robot swarms

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Title: Adaptive triangular mesh generation of self-configuring robot swarms
Author: Lee, Geunho ; Chong, Nak Young ; Christensen, Henrik I.
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.
Description: (c) 2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 2009 IEEE International Conference on Robotics and Automation; Kobe International Conference Center; Kobe, Japan, May 12-17, 2009. Digital Object Identifier: 10.1109/ROBOT.2009.5152748
Type: Article
ISSN: 1050-4729
Citation: Lee, G., Chong, N. Y., and Christenen, H. I. Adaptive triangular mesh generation of self-configuring robot swarms. In ICRA (Kobe, JP, May 2009), IEEE/RAS, pp. 2737-2742.
Date: 2009-05
Contributor: Georgia Institute of Technology. College of Computing
Japan Advanced Institute of Science and Technology. School of Information Science
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Autonomous mobile robots
Self-configuring robot swarms
Mesh generation

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