Solving Coverage Problems with Embedded Graph Grammars
Egerstedt, Magnus B.
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We show how Embedded Graph Grammars (EGGs) are used to specify local interaction rules between mobile robots in a natural manner. This formalism allows us to treat local network topologies, geometric transition conditions, and individual robot dynamics and control modes in a unified framework. An example EGG is demonstrated that achieves sensor coverage in a provably stable and correct manner. The algorithm results in a global network with a lattice-like triangulation.