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.
R. Falconi, C. Melchiorri (2012). A Graph-Based Algorithm for Robotic MANETs Coordination in Disaster Areas. s.l : IFAC [10.3182/20120905-3-HR-2030.00037].
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
