On Endogenous Reconfiguration in Mobile Robotic Networks

13 years 4 months ago

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: In this paper, our focus is on certain applications for mobile robotic networks, where reconfiguration is driven by factors intrinsic to the network rather than changes in the external environment. In particular, we study a version of the coverage problem useful for surveillance applications, where the objective is to position the robots in order to minimize the average distance from a random point in a given environment to the closest robot. This problem has been well-studied for omni-directional robots and it is shown that optimal configuration for the network is a centroidal Voronoi configuration and that the coverage cost belongs to (m-1/2 ), where m is the number of robots in the network. In this paper, we study this problem for more realistic models of robots, namely the double integrator (DI) model and

Ketan Savla, Emilio Frazzoli

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