A topological perspective on cycling robots for full tree coverage

Han Wang, Cheng Chen, Yuliy Baryshnikov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We study the topology of the space of coverings for a metric tree with disks embedded in the tree. Focusing on the coverings with excess one disk, we prove that its topological structure is that of a Cayley graph of the permutation group Sn.What follows is a centralized algorithm for stabilizing periodic swarm coverings based upon feedback control with the designed vector field on a maximal subset of the space, removing discontinuity loci.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
EditorsA. Frank van der Stappen, H. Levent Akin, Nancy M. Amato, Volkan Isler
PublisherSpringer-Verlag
Pages659-675
Number of pages17
ISBN (Print)9783319165943
DOIs
StatePublished - Jan 1 2015
Event11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 - Istanbul, Turkey
Duration: Aug 3 2014Aug 5 2014

Publication series

NameSpringer Tracts in Advanced Robotics
Volume107
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
CountryTurkey
CityIstanbul
Period8/3/148/5/14

Keywords

  • Cayley graph
  • Hybrid vector field
  • Metric tree
  • Space of coverings
  • Swarm control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • Cite this

    Wang, H., Chen, C., & Baryshnikov, Y. (2015). A topological perspective on cycling robots for full tree coverage. In A. F. van der Stappen, H. Levent Akin, N. M. Amato, & V. Isler (Eds.), Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 (pp. 659-675). (Springer Tracts in Advanced Robotics; Vol. 107). Springer-Verlag. https://doi.org/10.1007/978-3-319-16595-0_38