Solving coverage problems with embedded graph grammars

Authors:
John-Michael McNew;Eric Klavins;Magnus Egerstedt
Affiliations:
Univ. of Washington;Univ. of Washington;Georgia Institute of Technology
Venue:
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Year:
2007

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Abstract

We show how Embedded Graph Grammars (EGGs) are used to specify local interaction rules between mobile robots in a natural manner. This formalism allows us to treat local network topologies, geometric transition conditions, and individual robot dynamics and control modes in a unified framework. An example EGG is demonstrated that achieves sensor coverage in a provably stable and correct manner. The algorithm results in a global network with a lattice-like triangulation.