Combining multiple autonomous mobile sensor behaviors using local clustering

Rustam Stolkin, Jeffrey V. Nickerson

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

In crisis situations it may be necessary to re-establish communications via ad-hoc networks of communicating way-stations. Crisis, defence, or surveillance scenarios may require the distribution of sensor units over some region of interest. In both cases the use of communicating and sensing, autonomous, mobile robots will become prevalent in the near future. Existing literature describes various control rules for forming teams of robots into optimally distributed communicating or sensing grids. We show how these robot behaviors exhibit advantages and disadvantages related to the range between robots. Further we describe a new approach which enables several different behaviors to be combined, utilizing the best behavior for any particular inter-robot range. This method is demonstrated using computer model simulations and the improved performance of the combined behaviors, relative to that for individual behaviors, is graphed over important situational parameters.

Original languageEnglish
Title of host publicationMILCOM 2005
Subtitle of host publicationMilitary Communications Conference 2005
DOIs
StatePublished - 2005
EventMILCOM 2005: Military Communications Conference 2005 - Atlatnic City, NJ, United States
Duration: 17 Oct 200520 Oct 2005

Publication series

NameProceedings - IEEE Military Communications Conference MILCOM
Volume2005

Conference

ConferenceMILCOM 2005: Military Communications Conference 2005
Country/TerritoryUnited States
CityAtlatnic City, NJ
Period17/10/0520/10/05

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