Skip to main content
SpringerLink
Log in

Swarm Dispersion via Potential Fields, Leader Election, and Counting Hops

  • Conference paper
Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6472))

Abstract

We examine how robots using only laser range data and the ability to communicate within a certain radius may disperse in a complex unknown environment. We demonstrate an algorithm which attempts to maximize coverage while minimizing loss of connectivity during deployment. We demonstrate using Player/Stage that this algorithm can reliably achieve significant coverage over a variety of environments.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. Int. J. Rob. Res. 5(1), 90–98 (1986)

    Article  Google Scholar 

  2. Morlok, R., Gini, M.: Dispersing robots in an unknown environment. In: Proc. Int’l Symp. on Distributed Autonomous Robotic Systems (2004)

    Google Scholar 

  3. Brooks, R.A.: A robust layered control system for a mobile robot. Journal of Robotics and Automation RA 2(1), 14–23 (1986)

    Article  Google Scholar 

  4. Howard, A., Matarić, M.J., Sukhatme, G.S.: Mobile sensor network deployment using potential fields: A distributed, scalable solution to the area coverage problem. In: Proc. Int’l Symp. on Distributed Autonomous Robotic Systems, pp. 299–308 (2002)

    Google Scholar 

  5. Poduri, S., Pattem, S., Krishnamachari, B., Sukhatme, G.S.: Using local geometry for tunable topology control in sensor networks. IEEE Trans. on Mobile Computing 8(2), 218–230 (2009)

    Article  Google Scholar 

  6. Howard, A., Matarić, M.J., Sukhatme, G.S.: An incremental self-deployment algorithm for mobile sensor networks. Autonomous Robots 13(2), 113–126 (2002)

    Article  MATH  Google Scholar 

  7. Batalin, M., Sukhatme, G.S.: The design and analysis of an efficient local algorithm for coverage and exploration based on sensor network deployment. IEEE Trans. on Robotics 23(4), 661–675 (2007)

    Article  Google Scholar 

  8. Payton, D., Daily, M., Estowski, R., Howard, M., Lee, C.: Pheromone robotics. Autonomous Robots 11(3), 319–324 (2001)

    Article  MATH  Google Scholar 

  9. McLurkin, J., Smith, J.: Distributed algorithms for dispersion in indoor environments using a swarm of autonomous mobile robots. In: Proc. Int’l Symp. on Distributed Autonomous Robotic Systems (2004)

    Google Scholar 

  10. Ludwig, L., Gini, M.: Robotic swarm dispersion using wireless intensity signals. In: Proc. Int’l Symp. on Distributed Autonomous Robotic Systems, pp. 135–144 (2006)

    Google Scholar 

  11. Gerkey, B., Vaughan, R., Howard, A.: The Player/Stage project: Tools for multi-robot and distributed sensor systems. In: 11th Int’l Conf. on Advanced Robotics (2003)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Computer Science and Engineering, University of Minnesota, USA

    Anuraag Pakanati & Maria Gini

Authors
  1. Anuraag Pakanati
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Maria Gini
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. AIST Tsukuba Central 2, RT-Synthesis R.G., ISRI, AIST, 305-8568, Tsukuba, Ibaraki, Japan

    Noriaki Ando

  2. Intelligent Systems Division, National Institute of Standards and Technology, 100 Bureau Drive, M/S 8230, 20899-8230, Gaithersburg, MD, USA

    Stephen Balakirsky

  3. Department of Computer Science, Technical University Darmstadt, Hochschulstr. 10, 64289, Darmstadt, Germany

    Thomas Hemker  & Oskar von Stryk  & 

  4. Department of Management and Engineering (DTG), University of Padua, Stradella San Nicola, 3, 36100, Vicenza, Italy

    Monica Reggiani

Rights and permissions

Reprints and permissions

Copyright information

© 2010 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Pakanati, A., Gini, M. (2010). Swarm Dispersion via Potential Fields, Leader Election, and Counting Hops. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2010. Lecture Notes in Computer Science(), vol 6472. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17319-6_44

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-17319-6_44

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-17318-9

  • Online ISBN: 978-3-642-17319-6

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation