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ICRA
2009
IEEE

Automatic formation deployment of decentralized heterogeneous multi-robot networks with limited sensing capabilities

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Automatic formation deployment of decentralized heterogeneous multi-robot networks with limited sensing capabilities
— Heterogeneous multi-robot networks require novel tools for applications that require achieving and maintaining formations. This is the case for distributing sensing devices with heterogeneous mobile sensor networks. Here, we consider a heterogeneous multi-robot network of mobile robots. The robots have a limited range in which they can estimate the relative position of other network members. The network is also heterogeneous in that only a subset of robots have localization ability. We develop a method for automatically configuring the heterogeneous network to deploy a desired formation at a desired location. This method guarantees that network members without localization are deployed to the correct location in the environment for the sensor placement.
Brian Stephen Smith, Jiuguang Wang, Magnus Egerste
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Brian Stephen Smith, Jiuguang Wang, Magnus Egerstedt, Ayanna M. Howard
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