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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Geunho Lee Nak Young Chong Christensen, H. |
| Copyright Year | 2009 |
| Description | Author affiliation: College of Computing, Georgia Institute of Technology, Atlanta, 30332, USA (Christensen, H.) || School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan (Geunho Lee; Nak Young Chong) |
| 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. |
| Starting Page | 2737 |
| Ending Page | 2742 |
| File Size | 510608 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424427888 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2009.5152748 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-05-12 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Mesh generation Robot kinematics Robot sensing systems Mobile robots Wireless sensor networks Robotics and automation Monitoring Contamination Programmable control Adaptive control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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