Navigation of non-communicating autonomous mobile robots with guaranteed connectivity
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Date
2013
Authors
Kerestecioğlu, Feza
Journal Title
Journal ISSN
Volume Title
Publisher
Cambridge Univ Press
Abstract
We consider the connectivity of autonomous mobile robots. The robots navigate using simple local steering rules without requiring explicit communication among themselves. We show that using only position information of neighbors the group connectivity can be sustained even in the case of bounded position measurement errors and the occlusion of robots by other robots in the group. In implementing the proposed scheme sub-optimal solutions are invoked to avoid an excessive computational burden. We also discuss the possibility of deadlock which may bring the group to a standstill and show that the proposed methodology avoids such a scenario in real-life settings.
Description
Keywords
Mobile robots, Multi-robot systems, Navigation, Robot localization, Swarm robotics
Turkish CoHE Thesis Center URL
Citation
9
WoS Q
N/A
Scopus Q
Q2
Source
Volume
31
Issue
Start Page
767
End Page
776