Self-stabilizing mobile robot formations with virtual nodes

Seth Gilbert, Nancy Lynch, Sayan Mitra, Tina Nolte

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

Abstract

In this paper, we describe how virtual infrastructure can be used to coordinate the motion of mobile robots in a 2-dimensional plane in the presence of dynamic changes in the underlying mobile ad hoc network, i.e., nodes joining, leaving, or failing. The mobile robots cooperate to implement a VSA Layer, in which a virtual stationary automaton (VSA) is associated with each region of the plane. The VSAs coordinate among themselves to distribute the robots as needed throughout the plane. The resulting motion coordination protocol is self-stabilizing, in that each robot can begin the execution in any arbitrary state and at any arbitrary location in the plane. In addition, self-stabilization ensures that the robots can adapt to changes in the desired formation.

Original languageEnglish (US)
Title of host publicationStabilization, Safety, and Security of Distributed Systems - 10th International Symposium, SSS 2008, Proceedings
PublisherSpringer-Verlag Berlin Heidelberg
Pages188-202
Number of pages15
ISBN (Print)3540893342, 9783540893349
DOIs
StatePublished - 2008
Event10th International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2008 - Detroit, MI, United States
Duration: Nov 21 2008Nov 23 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5340 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other10th International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2008
CountryUnited States
CityDetroit, MI
Period11/21/0811/23/08

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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