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dc.contributor.authorKim, Jonghoek
dc.contributor.authorZhang, Fumin
dc.contributor.authorEgerstedt, Magnus B.
dc.date.accessioned2011-05-16T17:46:13Z
dc.date.available2011-05-16T17:46:13Z
dc.date.issued2009
dc.identifier.citationJ. Kim, Fumin Zhang and M. Egerstedt (2009), “Simultaneous Cooperative Exploration and Networking Based on Voronoi Diagrams,” in Proc. 2009 IFAC Workshop on Networked Robotics (NETROBO 2009), 1-6, 2009.en_US
dc.identifier.isbn978-3-902661-53-1
dc.identifier.urihttp://hdl.handle.net/1853/38888
dc.descriptionDigital Object Identifier: 10.3182/20091006-3-US-4006.00001en_US
dc.description.abstractWe develop a strategy that enables multiple intelligent vehicles to cooperatively explore complex territories. Every vehicle deploys communication devices and expands an information network while constructing a topological map based on Voronoi diagrams. As the information network weaved by each vehicle grows, intersections eventually happen so that the topological maps are shared. This allows for distributed vehicles to share information with other vehicles that have also deployed communication devices. Our exploration algorithms are provably complete under mild technical assumptions. A performance analysis of the algorithms shows that in a bounded workspace, the time spent to complete the exploration decreases as the number of vehicles increases. We further provide an analytical formula for this relationship. Time efficiency of the algorithms is demonstrated in MATLAB simulation.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectCooperative explorationen_US
dc.subjectVoronoi diagramsen_US
dc.subjectSensor networksen_US
dc.subjectInformation networksen_US
dc.titleSimultaneous Cooperative Exploration and Networking Based on Voronoi Diagramsen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.publisher.originalInternational Federation of Automatic Control


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