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Self-deployment of mobile robotic networks: an algorithm for decentralized sweep boundary coverage

Published online by Cambridge University Press:  09 August 2016

Anna A. Semakova ,
Kirill S. Ovchinnikov  and
Alexey S. Matveev
Anna A. Semakova*
Affiliation:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St. Petersburg 198504, Russia. E-mails: ovkirse@gmail.com, almat1712@yahoo.com
Kirill S. Ovchinnikov
Affiliation:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St. Petersburg 198504, Russia. E-mails: ovkirse@gmail.com, almat1712@yahoo.com
Alexey S. Matveev
Affiliation:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St. Petersburg 198504, Russia. E-mails: ovkirse@gmail.com, almat1712@yahoo.com
*
*Corresponding author. E-mail: a.semakova@gmail.com
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Summary

Several non-holonomic Dubins-car-like robots travel over paths with bounded curvatures in a plane that contains an a priori unknown region. The robots are anonymous to one another and do not use communication facilities. Any of them has access to the current minimum distance to the region and can determine the relative positions and orientations of the other robots within a finite and given visibility range. We present a distributed navigation and guidance strategy under which every robot autonomously converges to the desired minimum distance to the region with always respecting a given safety margin, the robots do not collide with one another and do not get into clusters, and the entire team ultimately sweeps over the respective equidistant curve at a speed exceeding a given threshold, thus forming a kind of a sweeping barrier at the perimeter of the region. Moreover, this strategy provides effective sub-uniform distribution of the robots over the equidistant curve. Mathematically rigorous justification of the proposed strategy is offered; its effectiveness is confirmed by extensive computer simulations and experiments with real wheeled robots.

Keywords

Robot navigationSensor-based controlMulti-agent systemsDecentralized controlSweep barrier coverage
Type
Articles
Information
Robotica , Volume 35 , Issue 9 , September 2017 , pp. 1816 - 1844
Copyright
Copyright © Cambridge University Press 2016 

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