Simultaneous Cooperative Exploration and Networking Based on Voronoi DiagramsReportar como inadecuado


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 territories. Every vehicle deploys communication devices and expands an information network while constructing a topological map based on Voronoi diagrams. As theinformation network weaved by each vehicle grows, intersections eventually happen so thatthe topological maps are shared. This allows for distributed vehicles to share information withother vehicles that have also deployed communication devices. Our exploration algorithms areprovably complete under mild technical assumptions. A performance analysis of the algorithmsshows that in a bounded workspace, the time spent to complete the exploration decreases asthe number of vehicles increases. We further provide an analytical formula for this relationship.Time efficiency of the algorithms is demonstrated in MATLAB simulation.



Underwater Robotics - Underwater Robotics Publications -



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

Fuente: https://smartech.gatech.edu/







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