An Incremental Self-Deployment Algorithm for Mobile Sensor Networks
Autonomous Robots
Using Situated Communication in Distributed Autonomous Mobile Robotics
SCAI '01 Proceedings of the Seventh Scandinavian Conference on 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
Movement-Assisted Sensor Deployment
IEEE Transactions on Mobile Computing
Infrastructure for Engineered Emergence on Sensor/Actuator Networks
IEEE Intelligent Systems
A review of probabilistic macroscopic models for swarm robotic systems
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
IEEE Transactions on Robotics
Modeling and designing self-organized aggregation in a swarm of miniature robots
International Journal of Robotics Research
An agent framework for agent societies
Proceedings of the compilation of the co-located workshops on DSM'11, TMC'11, AGERE!'11, AOOPES'11, NEAT'11, & VMIL'11
Adoption of Vehicular Ad Hoc Networking Protocols by Networked Robots
Wireless Personal Communications: An International Journal
Mitigating multi-path fading in a mobile mesh network
Ad Hoc Networks
Robotics and Autonomous Systems
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We study a fully distributed, reactive algorithm for deployment and maintenance of a mobile communication backbone that provides an area around a network gateway with wireless network access for higher-level agents. Possible applications of such a network are distributed sensor networks as well as communication support for disaster or military operations. The algorithm has minimalist requirements on the individual robotic node and does not require any localization. This makes the proposed solution suitable for deployment of large numbers of comparably cheap mobile communication nodes and as a backup solution for more capable systems in GPS-denied environments. Robots keep exploring the configuration space by random walk and stop only if their current location satisfies user-specified constraints on connectivity (number of neighbors). Resulting deployments are robust and convergence is analyzed using both kinematic simulation with a simplified collision and communication model as well as a probabilistic macroscopic model. The approach is validated on a team of 9 iRobot Create robots carrying wireless access points in an indoor environment.