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Self-Adaptive pattern formation with battery-powered robot swarms
Li GN(李冠男); Svogor, Ivan; Beltrame, Giovanni
作者部门海洋信息技术装备中心
会议名称2017 NASA/ESA Conference on Adaptive Hardware and Systems, AHS 2017
会议日期July 24-27, 2017
会议地点Pasadena, CA, USA
会议录名称2017 NASA/ESA Conference on Adaptive Hardware and Systems, AHS 2017
出版者IEEE
出版地New York
2017
页码253-260
收录类别EI ; CPCI(ISTP)
EI收录号20174504378960
WOS记录号WOS:000427173400035
产权排序1
ISBN号978-1-5386-3439-4
摘要This 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21236
专题海洋信息技术装备中心
通讯作者Li GN(李冠男)
作者单位1.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
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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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