An Algorithm for Selecting a Group Leader in Mobile Robots Realized by Mobile Ad Hoc Networks and Object Entropy

Authors:
Sang-Chul Kim
Affiliations:
School of Computer Science, Kookmin University, 861-1, Chongnung-dong, Songbuk-gu, Seoul, 136-702, Korea
Venue:
ICANNGA '07 Proceedings of the 8th international conference on Adaptive and Natural Computing Algorithms, Part II
Year:
2007

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Abstract

This paper proposes a novel algorithm for mobile robots to select a group leader and to be guided in order to perform a specific work. The concepts of mobile ad hoc network (MANET) and object entropy are adopted to design the selection of a group leader. A logical robot group is created based on the exchange of requestand replymessages in a robot communication group whose organization depends on a transmission range. A group leader is selected based on the transmission of confirmationmessage from a robot who initiates to make a logical robot group. The proposed algorithm has been verified based on the computer-based simulation. The performance metric such as the number of message in order to make a logical robot group and to select a group leader is defined and verified by using the computer-based simulation.