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Determining Environmental Boundaries: Asynchronous Communication and Physical Scales
| Citations: | 36 - 0 self |
BibTeX
@MISC{Bertozzi_determiningenvironmental,
author = {Andrea L. Bertozzi and Mathieu Kemp and Daniel Marthaler},
title = {Determining Environmental Boundaries: Asynchronous Communication and Physical Scales},
year = {}
}
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Abstract
This paper considers a recently proposed model for the self-organizing, decentralized, real-time motion planning for a swarm of homogeneous mobile robots in a stationary environment. The model allows the robots to cooperatively locate the boundary of a given environmental function in two space dimensions using a combination of sensing and communication. Starting from a partial dierential equation (PDE) used in image processing for edge detection, a nite dierence approximation provides the movement rules for each robot. We consider physical parameters for a speci c platform of underwater vehicles. We design the algorithm to function with asynchronous communication and noisy position information. We present numerical simulations illustrating the stability and performance of this system
Keyphrases
asynchronous communication environmental boundary physical scale edge detection real-time motion planning physical parameter environmental function present numerical simulation speci platform space dimension partial dierential equation movement rule stationary environment underwater vehicle noisy position information image processing nite dierence approximation homogeneous mobile robot
