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We study a problem of K-barrier coverage by employing a network of self-deployed, autonomous mobile robotic sensors. A distributed motion coordination algorithm is proposed for the mobile robotic sensors to address the coverage problem. The algorithm is theoretically developed based on some simple consensus algorithms that only rely on local information. By applying the algorithm to the sensors, K...
In this work, an experimental study of an intelligent distributed network where sensors and robots interact to solve collaborative tasks is presented. Thanks to the wireless connections among fixed and mobile (robot) nodes, a distributed sensing is realized as well as the achievement of a user-defined control task. In order to assess the feasibility of the proposed distributed control strategy as...
This paper presents a distributed control algorithm for mobile nodes cooperating so as to dynamically reconfigure themselves to maintain reliable end-to-end communication links. A Delaunay trianglation based network model is proposed for describing the multi-robot system. The improved adjacency matrix is adopted to denote connection relationship of the one-hop neighboring nodes. Inspired by potential...
Coverage is an important issue in a sensor network. In this paper, we consider a problem of barrier coverage between two landmarks using a network of self-deployed mobile sensors. We propose a decentralized motion coordination algorithm for the mobile sensors so that they form a sensor barrier between two given landmarks autonomously. The algorithm is theoretically developed using some simple rules...
Neighbor-Every-Theta (NET) graphs are such that each node has at least one neighbor in every theta angle sector of its communication range. We show that for thetas < pi, NET graphs are guaranteed to have an edge-connectivity of at least floor (2pi)/thetas, even with an irregular communication range. Our main contribution is to show how this family of graphs can achieve tunable topology control...
This paper describes the design and implementation of a modular architecture for distributed motion control of mobile robots. The control system has an overall hierarchical structure, and parallel structure in its lower levels. The lower levels are composed of several autonomous modules; each module is equipped with a microprocessor-based controller, and has its own control functions with sensors,...
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