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: | , |
| Médium: | Journal Article |
| Jazyk: | English |
| Vydavateľské údaje: |
London, England
SAGE Publications
01.09.2018
Sage Publications Ltd SAGE Publishing |
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| ISSN: | 1729-8814, 1729-8806, 1729-8814 |
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| Abstract | 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
. |
|---|---|
| AbstractList | 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 [Formula: see text], 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 [Formula: see text]. 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 . 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*=3d2, 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*=d4(3−r)(r+5)1≤r<3. 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 . |
| Author | Mukhopadhyaya, Srabani Das, Deepanwita |
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| Cites_doi | 10.1007/s10472-009-9120-2 10.5772/5659 10.1016/j.tcs.2005.01.001 10.4018/978-1-4666-9572-6 |
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| Keywords | limited visibility robot swarm painting Distributed algorithm |
| Language | English |
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| References | Flochinni, Prencipe, Santoro 2005; 337 Rekletis, New, Rankin 2008; 52 Jiao, Tang 2008; 5 Das, Mukhopadhyaya 2013; 7 Das D (bibr3-1729881418804508) 2013; 7 Prencipe G (bibr8-1729881418804508) bibr9-1729881418804508 Rekletis I (bibr6-1729881418804508) Das D (bibr15-1729881418804508) Latimer D (bibr5-1729881418804508) Stormont PD (bibr1-1729881418804508) bibr2-1729881418804508 Fazli P (bibr11-1729881418804508) Mondada F (bibr13-1729881418804508) bibr7-1729881418804508 bibr12-1729881418804508 Kong C (bibr4-1729881418804508) Fazli P (bibr10-1729881418804508) |
| References_xml | – volume: 7 start-page: 1 issue: 3 year: 2013 end-page: 15 article-title: An algorithm for painting an area by swarm of mobile robots publication-title: Int J Inform Proc – volume: 337 start-page: 147 issue: 1–3 year: 2005 end-page: 168 article-title: Gathering of asynchronous robots with limited visibility publication-title: Theor Comput Sci – volume: 52 start-page: 109 issue: 2–4 year: 2008 end-page: 142 article-title: Efficient boustrophedon multi-robot coverage: an algorithmic approach publication-title: Ann Math Artificial Int – volume: 5 start-page: 63 issue: 1 year: 2008 end-page: 68 article-title: A visibility-based algorithm for multi-robot boundary coverage publication-title: Int J Adv Robot Syst – start-page: 5577 volume-title: Proceedings of IEEE/RSJ international conference on intelligent robotics and systems (IROS ‘10) ident: bibr11-1729881418804508 – volume: 7 start-page: 1 issue: 3 year: 2013 ident: bibr3-1729881418804508 publication-title: Int J Inform Proc – start-page: 151 volume-title: Proceedings of IEEE international conference on computational intelligence for homeland security and personal safety (CIHSPS ‘05) ident: bibr1-1729881418804508 – start-page: 2423 volume-title: Proceedings of IEEE international conference on robotics and automation (ICRA ‘06) ident: bibr4-1729881418804508 – start-page: 446 volume-title: Proceedings of international conference on information processing (ICIP ‘12) ident: bibr15-1729881418804508 – volume-title: Proceedings of ICRA 2010 workshop on search and pursuit/evasion in the physical world: efficiency, scalability and guarantees ident: bibr10-1729881418804508 – start-page: 59 volume-title: Proceedings of conference of autonomous robot systems and competitions ident: bibr13-1729881418804508 – ident: bibr7-1729881418804508 doi: 10.1007/s10472-009-9120-2 – start-page: 961 volume-title: Proceedings of IEEE international conference on robotics and automation (ICRA ‘02) ident: bibr5-1729881418804508 – start-page: 185 volume-title: Proceedings of 4th European research seminar on advances in distributed systems (ERSADS, ‘01) ident: bibr8-1729881418804508 – start-page: 3462 volume-title: Proceedings of IEEE international conference on robotics and automation (ICRA ‘04) ident: bibr6-1729881418804508 – ident: bibr12-1729881418804508 doi: 10.5772/5659 – ident: bibr9-1729881418804508 doi: 10.1016/j.tcs.2005.01.001 – ident: bibr2-1729881418804508 doi: 10.4018/978-1-4666-9572-6 |
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| Title | Distributed algorithm for painting by a swarm of randomly deployed robots under limited visibility model |
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