![DSpace logo](/jspui/image/logo.gif)
Please use this identifier to cite or link to this item:
http://dspace.bits-pilani.ac.in:8080/jspui/xmlui/handle/123456789/8099
Title: | STATE Distributed algorithm for uniform circle formation by multiple mobile robots |
Authors: | Mohan, Sudeept Gautam, Avinash |
Keywords: | Computer Science Uniform circle formation Multi-robot systems Networked system Distributed system Asynchronous communication |
Issue Date: | Aug-2016 |
Publisher: | Springer |
Abstract: | Multi-robot pattern formation has a wide range of applications, such as inspection of hazardous regions, parallel and simultaneous transportation of load, area exploration, etc. This problem has been investigated both from the scientific and engineering perspectives. There is a whole body of experimental work on robot formations, and at the same, there is no dearth of theoretical research addressing the same problem. Several assumptions considered in these theoretical studies are overly simplified with an understanding that they will somehow be reasonably approximated. Although these theoretical research works are sound and complete, they do not show how an actual implementation compares with the idealized scenario. A new practical model is suggested in this paper for geometric pattern formation. This model uses approximate solutions to some of the assumptions considered in theoretical research works. A novel algorithm, STATE, is proposed and is shown to perform better than Défago and Konagaya’s algorithm for uniform circle formation. Both the algorithms are implemented on a real multi-robot test bed. A new framework for inter-robot communication is developed. It supports seamless asynchronous and non-blocking robot-to-computer, and robot-to-robot communication. |
URI: | https://link.springer.com/article/10.1007/s11370-016-0205-6 http://dspace.bits-pilani.ac.in:8080/xmlui/handle/123456789/8099 |
Appears in Collections: | Department of Computer Science and Information Systems |
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.