Abstract
In this paper, we describe how virtual infrastructure can be used to coordinate the motion of mobile robots in a 2-dimensional plane in the presence of dynamic changes in the underlying mobile ad hoc network, i.e., nodes joining, leaving, or failing. The mobile robots cooperate to implement a VSA Layer, in which a virtual stationary automaton (VSA) is associated with each region of the plane. The VSAs coordinate among themselves to distribute the robots as needed throughout the plane. 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 formation.
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Gilbert, S., Lynch, N., Mitra, S., Nolte, T. (2008). Self-stabilizing Mobile Robot Formations with Virtual Nodes. In: Kulkarni, S., Schiper, A. (eds) Stabilization, Safety, and Security of Distributed Systems. SSS 2008. Lecture Notes in Computer Science, vol 5340. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89335-6_16
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DOI: https://doi.org/10.1007/978-3-540-89335-6_16
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