Sugihara K. and Suzuki I. Distributed algorithms for formation of geometric patterns with many mobile robots. J. Robot. Syst., 13(3):127--139, 1996.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....a single position. Moving synchronously in discrete time steps, robots iteratively observed neighbors within some visibility range V , and followed simple rules to update their position. In contrast to all these demonstrations, formations require a more precise and reliable spatial structure. In [14], a group of simulated robots formed approximations to circles and simple polygons, using global knowledge of all robots positions. Each robot oriented itself to, e.g. the furthest and nearest robot. In [5] a similar setup was presented, but group motion was also considered, e.g. a matrix ....

....and headings. The former category is characterized by minimalism and robustness but a lack of guarantees that the desired formation will actually emerge; the latter category is characterized by reliability and e#ciency but also a need for global knowledge and computation. 11] 16] 9] 17] [14], 4] all share the feature that a guarantee of the emergence of a desired formation cannot be given (in some cases simply because it is not the goal of the work) We have addressed this problem by assigning a unique right spot in the formation to each robot. Thus, when all robots are in place, ....

Kazuo Sugihara, Ichiro Suzuki, "Distributed algorithms for formation of geometric patterns with many mobile robots," Journal of Robotic Systems 13(3), 1996, pp. 127--139.

....should not rely on an ordering of the robots, especially, there is no leader among the robots. The question is the following: Which distributed algorithm can the robots use to complete the task Besides practical studies, the point formation problem has been investigated in a more theoretical way [SY93, SS96, SY99, Pre01, FPSW99, FPSW00]. The solutions presented in these publications are complex, and some of them are hard to understand or verify. We present a new approach whose most distinguishing feature is its simplicity. A rough outline of our solution is as follows: Every robot takes a snapshot and detects the multi set of ....

K. Sugihara and I. Suzuki. Distributed algorithms for formation of geometric patterns with many mobile robots. Journal of Robotics Systems, 13(3):127--139, 1996.

.... is to identify the factors which in uence solvability of a given problem (the task) These questions have been extensively studied both experimentally and theoretically in the unlimited visibility setting, that is assuming that the robots are capable to sense ( see ) the entire space (e.g. see [4, 6, 10, 12]) In general and more realistically, robots can sense only a surrounding with a radius of bounded size. This setting, called the limited visibility case, is understandably more dicult, and only few algorithmic results are known [1, 11] In this paper we are interested in gathering: the basic ....

K. Sugihara and I. Suzuki. Distributed Algorithms for Formation of Geometric Patterns with Many Mobile Robots. J. of Robotics Systems, 13:127-139, 1996.

....of the study. An investigation with an algorithmic flavor has been undertaken within the AI community by Durfee [13] who argues in favor of limiting the knowledge that an intelligent robot must possess in order to be able to coordinate its behavior with others. The work of Suzuki and Yamashita [1, 26, 27] is the closest to our study (and, with this focus, a rarity in the mobile robots literature) it gives a nice and systematic account on the algorithmics of pattern formation for robots, under several assumptions on the power of the individual robot. Our model, however, differs with respect to the ....

....selfstabilization in self organizing systems. 4 Pattern Formation 4.1 Unlimited Visibility. We first consider the coordination problem of forming a specific geometric pattern in the unlimited visibility setting. The pattern formation problem has been extensively investigated in the literature [8, 26, 27, 28], where usually the first step is to gather the robots together and then let them proceed in the desired formation (just like a flock of birds or a troupe of soldiers) The problem is practically important, because, if the robots can form a given pattern, they can agree on their respective roles ....

K. Sugihara and I. Suzuki. Distributed Algorithms for Formation of Geometric Patterns with Many Mobile Robots. Journal of Robotics Systems, 13:127--139, 1996.

....lead the multivehicle network to predetermined geometric patterns. Review of distributed algorithms for cooperative control Recent years have witnessed a large research e#ort focused on motion planning and coordination problems for multi vehicle systems. Issues include geometric patterns [15] [16], formation control [17] 18] 19] 20] 21] and conflict avoidance [22] 23] Algorithms for robotic sensing tasks are presented for example in [24] 25] It is only recently, however, that truly distributed coordination laws for dynamic networks are being proposed; e.g. see [26] 27] ....

....The proposed algorithms are to be contrasted with the classic approach to formation control based on rigidly encoding the desired geometric pattern. One disadvantage of the proposed approach is the requirement for a careful numerical computation of Voronoi diagrams and centroids. We refer to [16] for previous work on algorithms for geometric patterns, and to [17] 19] for formation control algorithms. VI. Conclusions We have presented a novel approach to coordination algorithms for multi vehicle networks. The scheme can be thought of as an interaction law between agents and as such it ....

K. Sugihara and I. Suzuki, "Distributed algorithms for formation of geometric patterns with many mobile robots," Journal of Robotic Systems, vol. 13, no. 3, pp. 127--39, 1996.

....the problem from a computational point of view. This paper deals with two studies leading in this direction (the only ones, to our knowledge, that analyze the problem of coordinating and controlling a set of autonomous, mobile units from this point of view) The rst study is by Suzuki et al. [1, 13, 14]. It gives a nice and systematic account on the algorithmics of pattern formation for robots, operating under several assumptions on the power of the individual robot. The second is by Flocchini et al. 6, 8] they present a model (that we will refer to as Corda Coordination and control of a set ....

K. Sugihara and I. Suzuki. Distributed Algorithms for Formation of Geometric Patterns with Many Mobile Robots. Journal of Robotics Systems, 13:127-139, 1996.

....heuristics are perceived as a way to circumvent that di#culty. Debest [4] briefly discusses the formation of a circle by a group of mobile robots as an illustration of self stabilizing distributed algorithms. He discusses the problem, but does not really provide an algorithm. Sugihara and Suzuki [13] propose several algorithms for the formation of various geometrical patterns. They propose an algorithm for the formation of an approximation of a circle, based on heuristics. In some cases, the shape obtained with their algorithm is a Reuleaux triangle (a hybrid shape, between a triangle and a ....

K. Sugihara and I. Suzuki. Distributed algorithms for formation of geometric patterns with many mobile robots. Journal on Robotics Systems, 3(13):127--139, Mar. 1996.

....motivations) An investigation with an algorithmic avor has been undertaken within the AI community by Durfee [5] who argues in favor of limiting the knowledge that an intelligent robot must possess in order to be able to coordinate its behavior with others. The work of Suzuki and Yamashita [1, 13, 14], however, is the closest to our study (and, with this focus, a rarity in the mobile robots literature) It gives a nice and systematic account on the algorithmics of pattern formation for robots, operating under several assumptions on the power of the individual robot. Although the model of ....

K. Sugihara and I. Suzuki. Distributed Algorithms for Formation of Geometric Patterns with Many Mobile Robots. Journal of Robotics Systems, 13:127-139, 1996.

....its behavior with others. However, the main studies, to our knowledge, that aim to better understand the power and the limitations of the distributed coordination and control of a set of autonomous, mobile robots from an algorithmic and computational point of view, are by Suzuki and Yamashita [1, 13, 14], and by Flocchini et al. 6, 7] In order to analyze the problem in this light, they present formal models focused on the understanding of the algorithmics of several problems, in particular pattern formation, under several assumptions on the power of the individual robot. The main objective of ....

K. Sugihara and I. Suzuki. Distributed Algorithms for Formation of Geometric Patterns with Many Mobile Robots. Journal of Robotics Systems, 13:127-139, 1996.

....explorations the robot may have to travel a large distance (larger than its sensor range) before being able to locate a distinct landmark. 2.5. Multiple robots As mentioned earlier the multi robot approach has both advantages and disadvantages over a single robot approach. Motion planning [62,2,69,24,33] and performing simple tasks such as box pushing and parcel delivery [49,18,65,29] with multiple robots have been studied extensively. In general, most prior methods assume complete information or neglect mapping. Exploration using multiple robots is characterized by techniques that avoid tightly ....

Kazuo Sugihara and Ichiro Suzuki. Distributed algorithms for formation of geometric patterns with many mobile robots. Journal of Robotics Systems, 13(3):127-139, 1996.

....avoidance, and certain applications that require cooperation of mobile robots. See, for example, the Cellular Robotic System (CEBOT) 4] the Swarm Intelligence [1] the Self Assembling Machine ( fractum ) 6] formation and agreement problems for anonymous mobile robots by the authors et al. 8] [9] [10] and others [2] 5] 7] The goal of this paper is to give a formal discussion on the power and limitations of the distributed control method for certain formation and agreement problems involving anonymous mobile robots that are equipped with a sensor for detecting only the relative ....

K. Sugihara and I. Suzuki, "Distributed algorithms for formation of geometric patterns with many mobile robots," Journal of Robotic Systems 13, 3, 1996, pp. 127--139.

....based on a set of local rules. Fujimura [5] investigated how planning algorithms, knowledge about the environment, and action intervals of the robots a#ect the overall performance of two robots moving toward their respective goal positions while avoiding collision. Sugihara and Suzuki [13] [14], and Suzuki and Yamashita [15] considered formation and agreement problems for anonymous mobile robots in the plane. Work by others includes swarm intelligence [1] and collective behavior of multiple robots [9] 11] The main emphasis of most of the work mentioned above has been on the ....

<F3.819e+05> K. Sugihara and I.<F3.884e+05> Suzuki,<F3.391e+05> Distributed algorithms for formation of geometric patterns with many mobile<F3.884e+05> robots, Journal of Robotic Systems, 13 (1996), pp. 127--139.

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K. Sugihara and I. Suzuki, "Distributed Algorithms for Formation of Geometric Patterns with Many Mobile Robots," Journal of Robotic Systems 13, 3, March 1996, pp. 127--139.

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Sugihara K. and Suzuki I. Distributed algorithms for formation of geometric patterns with many mobile robots. J. Robot. Syst., 13(3):127--139, 1996.

No context found.

K. Sugihara and I. Suzuki. Distributed algorithms for formation of geometric patterns with many mobile robots. Journal of Robotic Systems, 13(3):127-139, 1996.

No context found.

K. Sugihara and I. Suzuki. Distributed algorithms for formation of geometric patterns with many mobile robots. Journal of Robotic Systems, 13(3):127-139, 1996.

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