NDLI: Distributed and Dynamic Map-less Self-reconfiguration for Microrobot Networks

Content Provider	IEEE Xplore Digital Library
Author	Lakhlef, H. Mabed, H. Bourgeois, J.
Copyright Year	2013
Description	Author affiliation: UFC/FEMTO-ST, Montbeliard, France (Lakhlef, H.; Mabed, H.; Bourgeois, J.)
Abstract	MEMS micro robots are low-power and low memory capacity devices that can sense and act. One of the most challenges in MEMS micro robot applications is the self-reconfiguration, especially when the efficiency and the scalability of the algorithm are required. In the literature, if we want a self-reconfiguration of micro robots to a target shape consisting of P positions, each micro robot should have a memory capacity of P positions. Therefore, if P equals to millions, each node should have a memory capacity of millions of positions. Therefore, this is not scalable. In this paper, nodes do not record any position, we present a self-reconfiguration method where a set of micro robots are unaware of their current position and do not have the map of the target shape. In other words, nodes do not store the positions that build the target shape. Consequently, memory usage for each node is reduced to O(1). An algorithm of self-reconfiguration to optimize the communication is deeply studied showing how to manage the dynamicity (wake up and sleep of micro robots) of the network to save energy. Our algorithm is implemented in Meld, a declarative language, and executed in a real environment simulator called DPRSim.
Starting Page	55
Ending Page	60
File Size	208402
Page Count	6
File Format	PDF
e-ISBN	9780769550435
DOI	10.1109/NCA.2013.21
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shape Heuristic algorithms Artificial neural networks Topology Micromechanical devices Protocols Prediction algorithms energy distributed algorithms DiMEMS MEMS microrobot self-reconfiguration physical topology optimization mobility dynamicity
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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