A distributed boundary detection algorithm for multi-robot systems
Name
McLurkin-2009-A distributed boundary detection algorithm for multi-robot systems.pdf
Size
1.93 MB
Format
Adobe PDF
Checksum (MD5)
18dd1a850297a6192a2e5f8db8e15259
Author(s)
McLurkin, James
Demaine, Erik D.
Date Issued
December 2009
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009.
Publisher
Institute of Electrical and Electronics Engineers
Citation
McLurkin, J., and E.D. Demaine. “A Distributed boundary detection algorithm for multi-robot systems.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 4791-4798. © Copyright 2010 IEEE
Version
Final published version
Abstract
We describe a distributed boundary detection algorithm suitable for use on multi-robot systems with dynamic network topologies. We assume that each robot has access to its local network geometry, which is the combination of a robot's network connectivity and the positions of its neighbors measured relative to itself. Our algorithm uses this information to classify robots as boundary or interior in one communications round, which is fast enough for rapidly changing networks. We use the local boundary classifications to create a robust boundary subgraph, and to determine if the boundary is an interior void or the exterior boundary. A proof of the key property of the boundary detection algorithm is provided, and all the algorithms are extensively tested on a swarm of 25-35 robots in rapidly changing network topologies.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2009.5354296
