Simultaneous Cooperative Exploration and Networking based on Voronoi DiagramsReport as inadecuate


Simultaneous Cooperative Exploration and Networking based on Voronoi Diagrams


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We develop a strategy that enables multiple intelligent vehicles to cooperativelyexplore complex and dangerous territories. Every vehicle drops communication devices andexpands an information network while constructing a topological map based on the Voronoidiagram. As the information network weaved by each vehicle grows, intersections eventuallyhappen so that the networks are shared. This allows for distributed vehicles to share informationwith other vehicles that have also dropped communication devices. Our exploration algorithmsare provably complete under mild technical assumptions. A performance analysis of thealgorithms shows that in a bounded workspace, the time spent to complete the explorationdecreases in proportion to the number of vehicles employed. The algorithms are demonstratedin simulation.



Georgia Robotics and InTelligent Systems Laboratory GRITS - Georgia Robotics and InTelligent Systems Laboratory GRITS Publications -



Author: Kim, Jonghoek - Zhang, Fumin - Egerstedt, Magnus B. - -

Source: https://smartech.gatech.edu/



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