Self-stabilizing robot formations over unreliable networks
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Lynch_Self-stabilizing.pdf
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522.19 KB
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Author(s)
Gilbert, Seth
Lynch, Nancy A.
Mitra, Sayan
Nolte, Tina
Date Issued
July 2009
Journal
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Publisher
Association for Computing Machinery
Citation
Seth Gilbert, Nancy Lynch, Sayan Mitra, and Tina Nolte. 2009. Self-stabilizing robot formations over unreliable networks. ACM Trans. Auton. Adapt. Syst. 4, 3, Article 17 (July 2009), 29 pages.
Version
Author's final manuscript
Abstract
We describe how a set of mobile robots can arrange themselves on any specified curve on the plane in the presence of dynamic changes both in the underlying ad hoc network and in the set of participating robots. Our strategy is for the mobile robots to implement a self-stabilizing virtual layer consisting of mobile client nodes, stationary Virtual Nodes (VNs), and local broadcast communication. The VNs are associated with predetermined regions in the plane and coordinate among themselves to distribute the client nodes relatively uniformly among the VNs' regions. Each VN directs its local client nodes to align themselves on the local portion of the target curve. The resulting motion coordination protocol is self-stabilizing, in that each robot can begin the execution in any arbitrary state and at any arbitrary location in the plane. In addition, self-stabilization ensures that the robots can adapt to changes in the desired target formation.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1145/1552297.1552300
