Swarm dispersion via potential fields, leader election, and counting hops

Anuraag Pakanati, Maria L Gini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

We examine how robots using only laser range data and the ability to communicate within a certain radius may disperse in a complex unknown environment. We demonstrate an algorithm which attempts to maximize coverage while minimizing loss of connectivity during deployment. We demonstrate using Player/Stage that this algorithm can reliably achieve significant coverage over a variety of environments.

Original languageEnglish (US)
Title of host publicationSimulation, Modeling, and Programming for Autonomous Robots - Second International Conference, SIMPAR 2010, Proceedings
Pages485-496
Number of pages12
DOIs
StatePublished - 2010
Event2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2010 - Darmstadt, Germany
Duration: Nov 15 2010Nov 18 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume6472 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2010
CountryGermany
CityDarmstadt
Period11/15/1011/18/10

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