Visibility-based deployment of robot formations for communication maintenance

Ethan Stump; Nathan Michael; Vijay Kumar; Volkan Isler

doi:10.1109/ICRA.2011.5980179

Visibility-based deployment of robot formations for communication maintenance

Ethan Stump, Nathan Michael, Vijay Kumar, Volkan Isler

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

41 Scopus citations

Abstract

We consider the problem of deploying robots in formations that ensure network connectivity between a fixed base station and a set of independent agents wandering in the environment. We adopt a communications model that requires line-of-sight and then solve for robot placements by finding mutually-visible configurations in a polygonal decomposition of the environment map. Both the static deployment case and the case of finding deployments that minimize total robot movement are considered. We provide algorithms for the moving agent case, consider their performance on various discretizations for a range of problem sizes, and discuss our experimental implementation of the presented ideas.

Original language	English (US)
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	4498-4505
Number of pages	8
DOIs	https://doi.org/10.1109/ICRA.2011.5980179
State	Published - Dec 1 2011
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: May 9 2011 → May 13 2011

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	5/9/11 → 5/13/11

Publisher link

10.1109/ICRA.2011.5980179

Find It

Find It at U of M Libraries

Cite this

Visibility-based deployment of robot formations for communication maintenance. / Stump, Ethan; Michael, Nathan; Kumar, Vijay et al.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 4498-4505 5980179 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Stump, E, Michael, N, Kumar, V & Isler, V 2011, Visibility-based deployment of robot formations for communication maintenance. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5980179, Proceedings - IEEE International Conference on Robotics and Automation, pp. 4498-4505, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 5/9/11. https://doi.org/10.1109/ICRA.2011.5980179

@inproceedings{db54f143a79742fcb08fe0592f2f19a3,

title = "Visibility-based deployment of robot formations for communication maintenance",

abstract = "We consider the problem of deploying robots in formations that ensure network connectivity between a fixed base station and a set of independent agents wandering in the environment. We adopt a communications model that requires line-of-sight and then solve for robot placements by finding mutually-visible configurations in a polygonal decomposition of the environment map. Both the static deployment case and the case of finding deployments that minimize total robot movement are considered. We provide algorithms for the moving agent case, consider their performance on various discretizations for a range of problem sizes, and discuss our experimental implementation of the presented ideas.",

author = "Ethan Stump and Nathan Michael and Vijay Kumar and Volkan Isler",

year = "2011",

month = dec,

day = "1",

doi = "10.1109/ICRA.2011.5980179",

language = "English (US)",

isbn = "9781612843865",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "4498--4505",

booktitle = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011",

note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

}

TY - GEN

T1 - Visibility-based deployment of robot formations for communication maintenance

AU - Stump, Ethan

AU - Michael, Nathan

AU - Kumar, Vijay

AU - Isler, Volkan

PY - 2011/12/1

Y1 - 2011/12/1

N2 - We consider the problem of deploying robots in formations that ensure network connectivity between a fixed base station and a set of independent agents wandering in the environment. We adopt a communications model that requires line-of-sight and then solve for robot placements by finding mutually-visible configurations in a polygonal decomposition of the environment map. Both the static deployment case and the case of finding deployments that minimize total robot movement are considered. We provide algorithms for the moving agent case, consider their performance on various discretizations for a range of problem sizes, and discuss our experimental implementation of the presented ideas.

AB - We consider the problem of deploying robots in formations that ensure network connectivity between a fixed base station and a set of independent agents wandering in the environment. We adopt a communications model that requires line-of-sight and then solve for robot placements by finding mutually-visible configurations in a polygonal decomposition of the environment map. Both the static deployment case and the case of finding deployments that minimize total robot movement are considered. We provide algorithms for the moving agent case, consider their performance on various discretizations for a range of problem sizes, and discuss our experimental implementation of the presented ideas.

UR - http://www.scopus.com/inward/record.url?scp=84871676429&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84871676429&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2011.5980179

DO - 10.1109/ICRA.2011.5980179

M3 - Conference contribution

AN - SCOPUS:84871676429

SN - 9781612843865

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 4498

EP - 4505

BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

Y2 - 9 May 2011 through 13 May 2011

ER -

Visibility-based deployment of robot formations for communication maintenance

Abstract

Publication series

Other

Publisher link

Find It

Other files and links

Fingerprint

Cite this