ACM Computing Surveys (CSUR)
Distributed Anonymous Mobile Robots: Formation of Geometric Patterns
SIAM Journal on Computing
Self-stabilization
Linear System Theory and Design
Linear System Theory and Design
Circle formation for oblivious anonymous mobile robots with no common sense of orientation
Proceedings of the second ACM international workshop on Principles of mobile computing
From insect to Internet: Situated control for networked robot teams
Annals of Mathematics and Artificial Intelligence
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Minimalist coherent swarming of wireless networked autonomous mobile robots
ICSAB Proceedings of the seventh international conference on simulation of adaptive behavior on From animals to animats
Self-Organizing Formation Algorithm for Active Elements
SRDS '02 Proceedings of the 21st IEEE Symposium on Reliable Distributed Systems
Using Artificial Physics to Control Agents
ICIIS '99 Proceedings of the 1999 International Conference on Information Intelligence and Systems
Distributed, Physics-Based Control of Swarms of Vehicles
Autonomous Robots
Swarm-Bot: A New Distributed Robotic Concept
Autonomous Robots
Low-coordination topologies for redundancy in sensor networks
Proceedings of the 6th ACM international symposium on Mobile ad hoc networking and computing
Gradual spatial pattern formation of homogeneous robot group
Information Sciences—Informatics and Computer Science: An International Journal - Special issue: Intelligent embedded agents
Local algorithms for autonomous robot systems
SIROCCO'06 Proceedings of the 13th international conference on Structural Information and Communication Complexity
From swarm intelligence to swarm robotics
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Swarm robotics: from sources of inspiration to domains of application
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Lattice formation in mobile autonomous sensor arrays
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Self-Organized Coordinated Motion in Groups of Physically Connected Robots
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An architecture for next-generation radio access networks
IEEE Network: The Magazine of Global Internetworking
Self-configuring robot swarms with dual rotating infrared sensors
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Geometric computations by broadcasting automata on the integer grid
UC'11 Proceedings of the 10th international conference on Unconventional computation
Biconnecting a network of mobile robots using virtual angular forces
Computer Communications
Geometric computations by broadcasting automata
Natural Computing: an international journal
Robotics and Autonomous Systems
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We discuss the fundamental problems and practical issues underlying the deployment of a swarm of autonomous mobile robots that can potentially be used to build mobile robotic sensor networks. For the purpose, a geometric approach is proposed that allows robots to configure themselves into a two-dimensional plane with uniform spatial density. Particular emphasis is paid to the hole repair capability for dynamic network reconfiguration. Specifically, each robot interacts selectively with two neighboring robots so that three robots can converge onto each vertex of the equilateral triangle configuration. Based on the local interaction, the self-configuration algorithm is presented to enable a swarm of robots to form a communication network arranged in equilateral triangular lattices by shuffling the neighbors. Convergence of the algorithms is mathematically proved using Lyapunov theory. Moreover, it is verified that the self-reparation algorithm enables robot swarms to reconfigure themselves when holes exist in the network or new robots are added to the network. Through extensive simulations, we validate the feasibility of applying the proposed algorithms to self-configuring a network of mobile robotic sensors. We describe in detail the features of the algorithm, including self-organization, self-stabilization, and robustness, with the results of the simulation.