Swarm dispersion via potential fields, leader election, and counting hops

Authors:
Anuraag Pakanati;Maria Gini
Affiliations:
Department of Computer Science and Engineering, University of Minnesota;Department of Computer Science and Engineering, University of Minnesota
Venue:
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Year:
2010

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Abstract

We examine how robots using only laser range data and the ability to communicate within a certain radius may disperse in a complex unknown environment. We demonstrate an algorithm which attempts to maximize coverage while minimizing loss of connectivity during deployment. We demonstrate using Player/Stage that this algorithm can reliably achieve significant coverage over a variety of environments.