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Self-Adaptive pattern formation with battery-powered robot swarms
Li GN(李冠男); Svogor, Ivan; Beltrame, Giovanni
Department海洋信息技术装备中心
Conference Name2017 NASA/ESA Conference on Adaptive Hardware and Systems, AHS 2017
Conference DateJuly 24-27, 2017
Conference PlacePasadena, CA, USA
Source Publication2017 NASA/ESA Conference on Adaptive Hardware and Systems, AHS 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages253-260
Indexed ByEI ; CPCI(ISTP)
EI Accession number20174504378960
WOS IDWOS:000427173400035
Contribution Rank1
ISBN978-1-5386-3439-4
AbstractThis paper presents a distributed, energy-Aware algorithm for an autonomous deployment of battery-powered robots in a specified pattern. While each robot gradually discharges and leaves the formation to recharge, the algorithm presented in this paper assures that the formation pattern is preserved. This is achieved by defining the desired pattern as a point cloud where each point is occupied by a robot. The point cloud is transformed into a tree model that is shared among all robots. This model is used by each robot independently to govern its behavior, resulting in a self-Adaptive network of robots which automatically generate paths for joining the formation and leaving it to recharge. Robots which leave the formation are replaced by neighbors to preserve the formation pattern. To demonstrate our algorithm we use a physics-based simulator and evaluate the persistence of the pattern formation formed by a robot swarm in an environment without global positioning, using only range and bearing.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21236
Collection海洋信息技术装备中心
Corresponding AuthorLi GN(李冠男)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, University of Chinese Academy of Sciences, Beijing, China
2.Department of Computer and Software Engineering, Polytechnique Montréal, Montréal, QC, Canada
Recommended Citation
GB/T 7714
Li GN,Svogor, Ivan,Beltrame, Giovanni. Self-Adaptive pattern formation with battery-powered robot swarms[C]. New York:IEEE,2017:253-260.
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