Long-term pattern formation and maintenance for battery-powered robots
文献类型：期刊论文
| 作者 | Li GN(李冠男)1,2,3 ; Svogor, Ivan3; Beltrame, Giovanni3
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| 刊名 | Swarm Intelligence
 |
| 出版日期 | 2019 |
| 卷号 | 13期号:1页码:21-57 |
| 关键词 | Long-term autonomy Energy-aware Multi-robot teams Graph · Battery |
| ISSN号 | 1935-3812 |
| 产权排序 | 1 |
| 英文摘要 | This paper presents a distributed, energy-aware method for the autonomous deployment and maintenance of battery-powered robots within a known or unknown region in 2D space. Our approach does not rely on a global positioning system and therefore allows for applications in GPS-denied environments such as underwater sensing or underground monitoring. After covering a region, our system maintains a formation and uses an arbitrary number of charging stations to prevent robots from fully discharging. Analyzing the topology of the network formed during robot deployment, we generate virtual recharging trees which the robots use to navigate toward a nearby charging station when needed. All robots that leave the formation are replaced by their neighbors, maximizing the effective coverage provided by the system. We demonstrate the capability of our methods using models, a physics-based simulator, and experiments with real robots. |
| WOS关键词 | FORMATION ALGORITHM ; SWARM ; STABILIZATION ; ENERGY ; MOTION |
| 资助项目 | NSERC Strategic Partnership[479149-2015] |
| WOS研究方向 | Computer Science ; Mathematics ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000459497500002 |
| 资助机构 | NSERC Strategic Partnership |
| 源URL | [http://ir.sia.cn/handle/173321/24158]  |
| 专题 | 沈阳自动化研究所_海洋信息技术装备中心 |
| 通讯作者 | Li GN(李冠男); Beltrame, Giovanni |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 110049, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Department of Computer and Software Engineering, Polytechnique Montréal, Montreal, Canada |
| 推荐引用方式 GB/T 7714 | Li GN,Svogor, Ivan,Beltrame, Giovanni. Long-term pattern formation and maintenance for battery-powered robots[J]. Swarm Intelligence,2019,13(1):21-57. |
| APA | Li GN,Svogor, Ivan,&Beltrame, Giovanni.(2019).Long-term pattern formation and maintenance for battery-powered robots.Swarm Intelligence,13(1),21-57. |
| MLA | Li GN,et al."Long-term pattern formation and maintenance for battery-powered robots".Swarm Intelligence 13.1(2019):21-57. |
入库方式： OAI收割
来源：沈阳自动化研究所
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