In this paper a novel graph–based approach to the self coordination of robotic Mobile Ad-hoc NETworks (MANETs) to be used in disaster scenarios is presented. In particular, in the proposed approach a leader-follower architecture is exploited in order to control few nodes while ensuring that connectivity is preserved between a base node and an explorer (a robotic explorer or a human rescuer) that is moving in unknown environments. The presented algorithm is supported by means of simulations.

A Graph-Based Algorithm for Robotic MANETs Coordination in Disaster Areas

FALCONI, RICCARDO;MELCHIORRI, CLAUDIO
2012

Abstract

In this paper a novel graph–based approach to the self coordination of robotic Mobile Ad-hoc NETworks (MANETs) to be used in disaster scenarios is presented. In particular, in the proposed approach a leader-follower architecture is exploited in order to control few nodes while ensuring that connectivity is preserved between a base node and an explorer (a robotic explorer or a human rescuer) that is moving in unknown environments. The presented algorithm is supported by means of simulations.
Proc. 10th IFAC Symposium on Robot Control
325
330
R. Falconi; C. Melchiorri
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/127779
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