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Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynolds' rules [1]. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles endowed solely with local positioning capabilities. The convergence of our approach is mathematically proven and applied to a realistic robotic...
Based on the located information and graph theory, a distributed sensor network model is introduced. The relationship between data transmission and fusion between nodes are described with Delaunay triangulation. And Voronoi diagrams have been used in the description of coverage region of nodes. With the model, disadvantages of existing located system based on a fixed infrastructure could be overcome.
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