TY - GEN
T1 - Self-stabilizing mobile robot formations with virtual nodes
AU - Gilbert, Seth
AU - Lynch, Nancy
AU - Mitra, Sayan
AU - Nolte, Tina
N1 - Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-540-89335-6_16
DO - 10.1007/978-3-540-89335-6_16
M3 - Conference contribution
AN - SCOPUS:58049125334
SN - 3540893342
SN - 9783540893349
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 188
EP - 202
BT - Stabilization, Safety, and Security of Distributed Systems - 10th International Symposium, SSS 2008, Proceedings
PB - Springer-Verlag Berlin Heidelberg
T2 - 10th International Symposium on Stabilization, Safety, and Security of Distributed Systems, SSS 2008
Y2 - 21 November 2008 through 23 November 2008
ER -