000159529 001__ 159529
000159529 005__ 20181203022158.0
000159529 0247_ $$2doi$$a10.1145/1552297.1552300
000159529 02470 $$2ISI$$a000269267900003
000159529 037__ $$aARTICLE
000159529 245__ $$aSelf-Stabilizing Robot Formations over Unreliable Networks
000159529 269__ $$a2009
000159529 260__ $$c2009
000159529 336__ $$aJournal Articles
000159529 520__ $$aWe describe how a set of mobile robots can arrange themselves on any specified curve on the plane in the presence of dynamic changes both in the underlying ad hoc network and in the set of participating robots. Our strategy is for the mobile robots to implement a self-stabilizing virtual layer consisting of mobile client nodes, stationary Virtual Nodes (VNs), and local broadcast communication. The VNs are associated with predetermined regions in the plane and coordinate among themselves to distribute the client nodes relatively uniformly among the VNs' regions. Each VN directs its local client nodes to align themselves on the local portion of the target curve. The resulting motion coordination protocol is self-stabilizing, in that each robot can begin the execution in any arbitrary state and at any arbitrary location in the plane. In addition, self-stabilization ensures that the robots can adapt to changes in the desired target formation.
000159529 6531_ $$aAlgorithms
000159529 6531_ $$aReliability
000159529 6531_ $$aFormal methods
000159529 6531_ $$acooperative mobile robotics
000159529 6531_ $$adistributed algorithms
000159529 6531_ $$apattern formation
000159529 6531_ $$aself-stabilization
000159529 6531_ $$areplicated state machines
000159529 6531_ $$aMobile Robots
000159529 700__ $$0240435$$g176464$$aGilbert, Seth
000159529 700__ $$aLynch, Nancy
000159529 700__ $$aMitra, Sayan
000159529 700__ $$aNolte, Tina
000159529 773__ $$j4$$tAcm Transactions On Autonomous And Adaptive Systems$$q-
000159529 909C0 $$xU10407$$0252114$$pDCL
000159529 909CO $$pIC$$particle$$ooai:infoscience.tind.io:159529
000159529 917Z8 $$xWOS-2010-11-30
000159529 937__ $$aEPFL-ARTICLE-159529
000159529 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000159529 980__ $$aARTICLE