Self-stabilizing Mobile Robot Formations with Virtual Nodes

  • Seth Gilbert
  • Nancy Lynch
  • Sayan Mitra
  • Tina Nolte
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5340)


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.


Mobile Robot Versus Layer Virtual Node Arbitrary State Reachable State 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Seth Gilbert
    • 1
  • Nancy Lynch
    • 2
  • Sayan Mitra
    • 3
  • Tina Nolte
    • 2
  1. 1.Ecole Polytechnique FédéraleLausanneSwitzerland
  2. 2.Massachusetts Institute of TechnologyUSA
  3. 3.University of Illinois at Urbana-ChampaignUSA

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