Adaptive self-configuration of robot swarms and its convergence degree
This paper addresses the problem of the coordinated deployment of a swarm of mobile robots in an area with geographical constraints. The objective of our research is to investigate how to build an ad hoc network of robotic sensors in a real-world environment. For attaining scalability and robustness...
| Main Authors: | , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2017-01-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/83/846/83_16-00448/_pdf/-char/en |
| _version_ | 1797989143976869888 |
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| author | Atsushi SHINNOH Geunho LEE NakYoung CHONG |
| author_facet | Atsushi SHINNOH Geunho LEE NakYoung CHONG |
| author_sort | Atsushi SHINNOH |
| collection | DOAJ |
| description | This paper addresses the problem of the coordinated deployment of a swarm of mobile robots in an area with geographical constraints. The objective of our research is to investigate how to build an ad hoc network of robotic sensors in a real-world environment. For attaining scalability and robustness, it is desirable that each robot can configure themselves into an area through local interactions with adjacent robots, using only locally available information. Therefore, a decentralized deployment scheme is presented based on geometric ideas allowing robots to converge to the uniform spatial distribution by forming regular triangle lattices. The convergence of the deployment scheme is mathematically examined, and verified through extensive simulations and experiments. In addition, a new evaluation index is proposed, to estimate a relative convergence degree with respect to a desired geometric configuration. Our results indicate that the deployment scheme can be applied to the problem regarding the coverage of an area of interest by a swarm of mobile robotic sensors. |
| first_indexed | 2024-04-11T08:15:30Z |
| format | Article |
| id | doaj.art-0ca71a8145cf41ff9a04a5ee770d12ed |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-11T08:15:30Z |
| publishDate | 2017-01-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-0ca71a8145cf41ff9a04a5ee770d12ed2022-12-22T04:35:11ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612017-01-018384616-0044816-0044810.1299/transjsme.16-00448transjsmeAdaptive self-configuration of robot swarms and its convergence degreeAtsushi SHINNOH0Geunho LEE1NakYoung CHONG2Faculty of Engineering, Utsunomiya UniversityDepartment of Enviromental Robotics, Faculty of Engineering, University of MiyazakiSchool of Information Science, Japan Advanced Institute of Science and TechnologyThis paper addresses the problem of the coordinated deployment of a swarm of mobile robots in an area with geographical constraints. The objective of our research is to investigate how to build an ad hoc network of robotic sensors in a real-world environment. For attaining scalability and robustness, it is desirable that each robot can configure themselves into an area through local interactions with adjacent robots, using only locally available information. Therefore, a decentralized deployment scheme is presented based on geometric ideas allowing robots to converge to the uniform spatial distribution by forming regular triangle lattices. The convergence of the deployment scheme is mathematically examined, and verified through extensive simulations and experiments. In addition, a new evaluation index is proposed, to estimate a relative convergence degree with respect to a desired geometric configuration. Our results indicate that the deployment scheme can be applied to the problem regarding the coverage of an area of interest by a swarm of mobile robotic sensors.https://www.jstage.jst.go.jp/article/transjsme/83/846/83_16-00448/_pdf/-char/enrobot swarmself-configurationtriangular mesh pattern adaptationconvergence degree |
| spellingShingle | Atsushi SHINNOH Geunho LEE NakYoung CHONG Adaptive self-configuration of robot swarms and its convergence degree Nihon Kikai Gakkai ronbunshu robot swarm self-configuration triangular mesh pattern adaptation convergence degree |
| title | Adaptive self-configuration of robot swarms and its convergence degree |
| title_full | Adaptive self-configuration of robot swarms and its convergence degree |
| title_fullStr | Adaptive self-configuration of robot swarms and its convergence degree |
| title_full_unstemmed | Adaptive self-configuration of robot swarms and its convergence degree |
| title_short | Adaptive self-configuration of robot swarms and its convergence degree |
| title_sort | adaptive self configuration of robot swarms and its convergence degree |
| topic | robot swarm self-configuration triangular mesh pattern adaptation convergence degree |
| url | https://www.jstage.jst.go.jp/article/transjsme/83/846/83_16-00448/_pdf/-char/en |
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