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http://dx.doi.org/10.5302/J.ICROS.2013.13.1956

Behavior Control Algorithm of Swarm Robots to Maintain Network Connectivity  

Kim, Jong Seon (Department of Control and Robotics Engineering, Kunsan National University)
Jeong, June Young (Department of Control and Robotics Engineering, Kunsan National University)
Ji, Sang Hoon (Applied Robot Technology, Korea Institute of Industrial Technology)
Joo, Young Hoon (Department of Control and Robotics Engineering, Kunsan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.12, 2013 , pp. 1132-1137 More about this Journal
Abstract
In swarm robot systems, it is vital to maintain network connectivity to ensure cooperative behavior between robots. This paper deals with the behavior control algorithm of the swarm robots for maintaining network connectivity. To do this, we divide swarm robots into search-robots, base-robots, and relay-robots. Using these robots, we propose behavior control algorithm to maintain network connectivity. The behavior control algorithms to maintain network connectivity are proposed for the local path planning using virtual force and global path planning using the Delaunay triangulation, respectively. Finally, we demonstrate the effectiveness and applicability of the proposed method through some simulations.
Keywords
swarm robots system; maintaining network connectivity; relay robot; virtual forces; delaunay triangulation;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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