Computational geometry: an introduction
Computational geometry: an introduction
Distributed Spanner with Bounded Degree for Wireless Ad Hoc Networks
IPDPS '02 Proceedings of the 16th International Parallel and Distributed Processing Symposium
Deterministic boundary recognition and topology extraction for large sensor networks
SODA '06 Proceedings of the seventeenth annual ACM-SIAM symposium on Discrete algorithm
Locating and bypassing holes in sensor networks
Mobile Networks and Applications
Boundary recognition in sensor networks by topological methods
Proceedings of the 12th annual international conference on Mobile computing and networking
Multi-robot collision-free navigation based on reciprocal orientation
Robotics and Autonomous Systems
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We describe a distributed boundary detection algorithm suitable for use on multi-robot systems with dynamic network topologies. We assume that each robot has access to its local network geometry, which is the combination of a robot's network connectivity and the positions of its neighbors measured relative to itself. Our algorithm uses this information to classify robots as boundary or interior in one communications round, which is fast enough for rapidly changing networks. We use the local boundary classifications to create a robust boundary subgraph, and to determine if the boundary is an interior void or the exterior boundary. A proof of the key property of the boundary detection algorithm is provided, and all the algorithms are extensively tested on a swarm of 25-35 robots in rapidly changing network topologies.