Abstract
This paper presents a distributed boundary detection method for a swarm of robots. It employs the cyclic-shape algorithm together with a local coordinate identification, thereby allowing boundary detection without bearing measurements. Each robot can communicate with, and estimate the distance to, its neighbouring robots. The method is validated using swarms of up to 45 Kilobot robots.
The first author conducted the conceptual and experimental work while with The University of Sheffield. She is currently with Aston University.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Fekete, S.P., Kröller, A., Pfisterer, D., Fischer, S., Buschmann, C.: Neighborhood-based topology recognition in sensor networks. In: Nikoletseas, S.E., Rolim, J.D.P. (eds.) ALGOSENSORS 2004. LNCS, vol. 3121, pp. 123–136. Springer, Heidelberg (2004). https://doi.org/10.1007/978-3-540-27820-7_12
Funke, S.: Topological hole detection in wireless sensor networks and its applications. In: Proceedings of the 2005 Joint Workshop on Foundations of Mobile Computing, pp. 44–53. ACM (2005)
Khan, I., Mokhtar, H., Merabti, M.: A survey of boundary detection algorithms for sensor networks. In: Proceedings of the 9th Annual Postgraduate Symposium on the Convergence of Telecommunications, Networking and Broadcasting. Liverpool John Moores University (2008)
Lee, S.K., Kim, D., Shin, D.S., Jang, T., McLurkin, J.: Distributed deformable configuration control for multi-robot systems. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5347–5354. IEEE (2016)
Lee, S.K., McLurkin, J.: Distributed cohesive configuration control for swarm robots with boundary information and network sensing. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1161–1167. IEEE (2014)
McLurkin, J., Demaine, E.D.: A distributed boundary detection algorithm for multi-robot systems. In: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4791–4798. IEEE (2009)
Rubenstein, M., Ahler, C., Nagpal, R.: Kilobot: A low cost scalable robot system for collective behaviors. In: 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 3293–3298. IEEE (2012)
Wang, Y., Gao, J., Mitchell, J.S.: Boundary recognition in sensor networks by topological methods. In: Proceedings of the 12th Annual International Conference on Mobile Computing and Networking, pp. 122–133. ACM (2006)
Acknowledgements
This research was supported by the Engineering and Physical Sciences Research Council (grant No. EP/J013714/1).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Kuang, Y., Kaszubowski Lopes, Y., Groß, R. (2019). Boundary Detection in a Swarm of Kilobots. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11650. Springer, Cham. https://doi.org/10.1007/978-3-030-25332-5_41
Download citation
DOI: https://doi.org/10.1007/978-3-030-25332-5_41
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-25331-8
Online ISBN: 978-3-030-25332-5
eBook Packages: Computer ScienceComputer Science (R0)