How to Make Fat Autonomous Robots See all Others Fast?

Gokarna Sharma, Costas Busch, Supratik Mukhopadhyay

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The coordination problems arising in a team of autonomous mobile robots have received a lot of attention in the distributed robotics community. Along those lines, we study in this paper the problem of coordinating autonomous mobile robots to reposition on a convex hull so that each robot sees all others. In particular, we consider non-transparent fat robots operating in the 2-dimensional plane. They are abstracted as unit discs and they make local decisions with vision being the only mean of coordination among them. We develop a (deterministic) distributed algorithm that solves the problem for a team of N\geq 3 fat robots in \mathcal{O}(N) time avoiding collisions under the semi-synchronous scheduler. The main idea is to enforce the robots to reach a configuration in which (i) the robots' centers form a convex hull; (ii) all robots are on the convex hull's boundary; and (iii) each robot can see all other robots. The result is achieved assuming some reasonable conditions on the input configuration and showing that starting from any input configuration that satisfies our conditions, robots reach such a configuration in linear time and terminate.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3730-3735
Number of pages6
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Externally publishedYes
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/TerritoryAustralia
CityBrisbane
Period5/21/185/25/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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