Decentralized Self-Repair to Maintain Connectivity and Coverage in Networked Multi-Robot Systems

摘要：

We present a suite of algorithms that enable a team of mobile robots to repair connectivity in a wireless mesh network. Each robot carries a wireless router and can act as a mobile access point. The algorithms are distributed, with each robot computing it’s trajectory using its position, the positions of its neighbors within communication range, and the position of a gateway node. The algorithms are validated via an analytical model as well as field experiments with 7 Create robots.

作者: Anna Derbakova Nikolaus Correll Daniela Rus

作者单位: Computer Science and Artificial Intelligence Laboratory,Massachusetts Institute of Technology,Cambri Department of Computer Science,University of Colorado at Boulder,Boulder,CO 80309,USA

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: 3863-3868

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）