Visibility-based Deployment of Robot Formations for Communication Maintenance

摘要：

We consider the problem of deploying robots in formations that ensure network connectivity between a fixed base station and a set of independent agents wandering in the environment. We adopt a communications model that requires line-of-sight and then solve for robot placements by finding mutually-visible configurations in a polygonal decomposition of the environment map. Both the static deployment case and the case of finding deployments that minimize total robot movement are considered. We provide algorithms for the moving agent case, consider their performance on various discretizations for a range of problem sizes, and discuss our experimental implementation of the presented ideas.

作者: Ethan Stump Nathan Michael Vijay Kumar Volkan Isler

作者单位: US Army Research Laboratory Adelphi,Maryland 20783 GRASP Laboratory University of Pennsylvania Philadelphia,Pennsylvania 19104 University of Minnesota Minneapolis,Minnesota 55455

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4498-4505

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）