Abstract
This paper considers a recently proposed model for the self-organizing, decentralized, real-time motion planning for a swarm of homogeneous mobile robots in a stationary environment. The model allows the robots to cooperatively locate the boundary of a given environmental function in two space dimensions using a combination of sensing an communication. Starting from a partial differential equation (PDE) used in image processing for edge detection, a finite difference approximation provides the movement rules for each robot. We consider physical parameters for a specific platform of underwater vehicles. We design the algorithm to function with asynchronous communication and noisy position information. We present numerical simulations illustrating the stability and performance of this system.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
Author information
Authors and Affiliations
Editor information
Rights and permissions
About this chapter
Cite this chapter
Bertozzi, A.L., Kemp, M., Marthaler, D. Determining Environmental Boundaries: Asynchronous Communication and Physical Scales. In: Kumar, V., Leonard, N., Morse, A.S. (eds) Cooperative Control. Lecture Notes in Control and Information Science, vol 309. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-31595-7_2
Download citation
DOI: https://doi.org/10.1007/978-3-540-31595-7_2
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22861-5
Online ISBN: 978-3-540-31595-7
eBook Packages: EngineeringEngineering (R0)