JRM Vol.21 No.4 pp. 469-477
doi: 10.20965/jrm.2009.p0469


A Mobile Sensor Network Forming Concentric Circles Through Local Interaction and Consensus Building

Geunho Lee*, Seokhoon Yoon*, Nak Young Chong*, and Henrik Christensen**

*School of Information Science, Japan Advanced Institute of Science and Technology,
Nomi, Ishikawa 923-1292, Japan

**College of Computing, Georgia Institute of Technology,
Atlanta, GA 30332, USA

February 2, 2009
May 25, 2009
August 20, 2009
sensor network, robot swarm, concentric circle, local interaction, consensus
We address the problem of a swarm of autonomous mobile robotic sensors generating geometric shapes to build wireless ad hoc surveillance sensor networks. Robot swarms with limited observation are required to form different shapes under different task conditions. To do this, we propose decentralized coordination enabling a robot swarm dispersed across an area to form a desired shape. Our approach has emphn robots generate a circumscribed circle of a regular emphn-polygon based on local interaction with neighboring robots. The approach also enables a large robot swarm to form concentric circles through consensus. We mathematically demonstrate convergence confirming the feasibility using extensive simulation. Our results indicate that our approach is applicable to mobile sensor network surveillance and security networks.
Cite this article as:
G. Lee, S. Yoon, N. Chong, and H. Christensen, “A Mobile Sensor Network Forming Concentric Circles Through Local Interaction and Consensus Building,” J. Robot. Mechatron., Vol.21 No.4, pp. 469-477, 2009.
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