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Long-term pattern formation and maintenance for battery-powered robots
Li GN(李冠男)1,2,3; Svogor, Ivan3; Beltrame, Giovanni3
Department海洋信息技术装备中心
Source PublicationSwarm Intelligence
ISSN1935-3812
2019
Volume13Issue:1Pages:21-57
Indexed BySCI ; EI
EI Accession number20190706487950
WOS IDWOS:000459497500002
Contribution Rank1
Funding OrganizationNSERC Strategic Partnership
KeywordLong-term autonomy Energy-aware Multi-robot teams Graph · Battery
AbstractThis paper presents a distributed, energy-aware method for the autonomous deployment and maintenance of battery-powered robots within a known or unknown region in 2D space. Our approach does not rely on a global positioning system and therefore allows for applications in GPS-denied environments such as underwater sensing or underground monitoring. After covering a region, our system maintains a formation and uses an arbitrary number of charging stations to prevent robots from fully discharging. Analyzing the topology of the network formed during robot deployment, we generate virtual recharging trees which the robots use to navigate toward a nearby charging station when needed. All robots that leave the formation are replaced by their neighbors, maximizing the effective coverage provided by the system. We demonstrate the capability of our methods using models, a physics-based simulator, and experiments with real robots.
Language英语
WOS SubjectComputer Science, Artificial Intelligence ; Mathematics, Applied ; Robotics
WOS KeywordFORMATION ALGORITHM ; SWARM ; STABILIZATION ; ENERGY ; MOTION
WOS Research AreaComputer Science ; Mathematics ; Robotics
Funding ProjectNSERC Strategic Partnership[479149-2015] ; NSERC Strategic Partnership[479149-2015]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24158
Collection海洋信息技术装备中心
Corresponding AuthorLi GN(李冠男); Beltrame, Giovanni
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 110049, China
3.Department of Computer and Software Engineering, Polytechnique Montréal, Montreal, Canada
Recommended Citation
GB/T 7714
Li GN,Svogor, Ivan,Beltrame, Giovanni. Long-term pattern formation and maintenance for battery-powered robots[J]. Swarm Intelligence,2019,13(1):21-57.
APA Li GN,Svogor, Ivan,&Beltrame, Giovanni.(2019).Long-term pattern formation and maintenance for battery-powered robots.Swarm Intelligence,13(1),21-57.
MLA Li GN,et al."Long-term pattern formation and maintenance for battery-powered robots".Swarm Intelligence 13.1(2019):21-57.
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