Automatic generation of persistent formations for multi-agent networks under range constraints
Proceedings of the 1st international conference on Robot communication and coordination
Automatic Generation of Persistent Formations for Multi-agent Networks Under Range Constraints
Mobile Networks and Applications
Multi-robot coalition formation
IEEE Transactions on Robotics
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Automatica (Journal of IFAC)
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Heterogeneous multi-robot networks require novel tools for applications that require achieving and maintaining formations. This is the case for distributing sensing devices with heterogeneous mobile sensor networks. Here, we consider a heterogeneous multi-robot network of mobile robots. The robots have a limited range in which they can estimate the relative position of other network members. The network is also heterogeneous in that only a subset of robots have localization ability. We develop a method for automatically configuring the heterogeneous network to deploy a desired formation at a desired location. This method guarantees that network members without localization are deployed to the correct location in the environment for the sensor placement.