Lattice Formation in Mobile Autonomous Sensor Arrays

  • Eric Martinson
  • David Payton
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3342)


The purpose of this work is to enable an array of mobile sensors to autonomously arrange themselves into a regularly spaced lattice formation such that they may collectively be used as an effective phased-array sensor. Existing approaches to this problem encounter issues with local minima which allow the formation of lattice patterns that are locally regular but have discontinuities or defects that would be undesirable in a narrow-band beamforming application. By exploiting a common reference orientation, such as might be obtained from a magnetic compass, we have been able to create control laws that operate on orthogonal axes and thereby minimize the occurrence of local minima. The result is that we can now form lattice patterns with greater uniformity over extended distances, with significantly less energy or movement per robot. Despite the need for a shared directional reference, our methods are also robust to significant error in the reference readings.


Mobile Robot Formation Error Sensor Range Line Force Primary Axis 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Eric Martinson
    • 1
  • David Payton
    • 2
  1. 1.Georgia Institute of TechnologyAtlantaUSA
  2. 2.HRL LaboratoriesMalibuUSA

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