Distributed algorithm for painting by a swarm of randomly deployed robots under limited visibility model

This article studies the problem of painting an obstacle free rectangular region by a swarm of mobile robots. Initially the robots are deployed randomly within the target area subject to the condition that the distribution is d*-dense, where d * = 3 d 2 , and a robot can view up to a distance d. By...

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Vydané v:International journal of advanced robotic systems Ročník 15; číslo 5; s. 172988141880450
Hlavní autori: Das, Deepanwita, Mukhopadhyaya, Srabani
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: London, England SAGE Publications 01.09.2018
Sage Publications Ltd
SAGE Publishing
Predmet:
Algorithms
Robots
Upper bounds
Visibility
limited visibility
robot swarm
painting
Distributed algorithm
ISSN:1729-8814, 1729-8806, 1729-8814
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Shrnutí:This article studies the problem of painting an obstacle free rectangular region by a swarm of mobile robots. Initially the robots are deployed randomly within the target area subject to the condition that the distribution is d*-dense, where d * = 3 d 2 , and a robot can view up to a distance d. By d*-dense, it is meant that if all the robots are projected on a horizontal line, then the distance between two consecutive robots must be less than or equal to d*. Non-consideration of the popular CORDA (computational) model in the field of area coverage by swarm robots has been addressed here. The proposed algorithm assumes CORDA model. The robots follow a completely distributed algorithm to paint the region. The robots do not need to be synchronous, but they are assumed to have equal velocities. However, the proposed algorithm supports the robots with different speed. In that case, if r is the given upper bound on the ratios of the speeds of any two robots, then the initial distribution has to be D*-dense, where D * = d 4 ( 3 − r ) ( r + 5 ) 1 ≤ r < 3 .
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:1729-8814
1729-8806
1729-8814
DOI:10.1177/1729881418804508