Swarm Dispersion via Potential Fields, Leader Election, and Counting Hops
نویسندگان
چکیده
We examine how robots using only laser range data and the ability to communicate within a certain radius may disperse in a complex unknown environment. We demonstrate an algorithm which attempts to maximize coverage while minimizing loss of connectivity during deployment. We demonstrate using Player/Stage that this algorithm can reliably achieve significant coverage over a variety of environments.
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