NDLI: Three dimensional deployment of robot swarms

Content Provider	IEEE Xplore Digital Library
Author	Geunho Lee Nishimura, Y. Tatara, K. Nak Young Chong
Copyright Year	2010
Description	Author affiliation: School of Information Science, Japan Advanced Institute of Science and Technology (JAIST), 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan (Geunho Lee; Nishimura, Y.; Tatara, K.; Nak Young Chong)
Abstract	This paper addresses the deployment problem for a swarm of autonomous mobile robots initially randomly distributed in 3 dimensional space. A fully decentralized geometric self-configuration approach is proposed to deploy individual robots at a given spatial density. Specifically, each robot interacts with three neighboring robots in a selective and dynamic fashion without using any explicit communication so that four robots eventually form a regular tetrahedron. Using such local interactions, the proposed algorithms enable a swarm of robots to span a network of regular tetrahedrons in a designated space. The convergence of the algorithms is theoretically proved using Lyapunov theory. Through extensive simulations, we validate the effectiveness and scalability of the proposed algorithms.
Starting Page	5073
Ending Page	5078
File Size	1256798
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652055
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Robot sensing systems Power capacitors Equations Convergence
Content Type	Text
Resource Type	Article

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