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EnglishIn 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.
| Titolo: | A Graph-Based Algorithm for Robotic MANETs Coordination in Disaster Areas |
| Autore/i: | FALCONI, RICCARDO; MELCHIORRI, CLAUDIO |
| Autore/i Unibo: | |
| Anno: | 2012 |
| Titolo del libro: | Proc. 10th IFAC Symposium on Robot Control |
| Pagina iniziale: | 325 |
| Pagina finale: | 330 |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.3182/20120905-3-HR-2030.00037 |
| 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. |
| Data prodotto definitivo in UGOV: | 29-giu-2013 |
| Appare nelle tipologie: | 4.01 Contributo in Atti di convegno |
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