TY - GEN
T1 - Combining multiple autonomous mobile sensor behaviors using local clustering
AU - Stolkin, Rustam
AU - Nickerson, Jeffrey V.
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33847372006&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33847372006&partnerID=8YFLogxK
U2 - 10.1109/MILCOM.2005.1605744
DO - 10.1109/MILCOM.2005.1605744
M3 - Conference contribution
AN - SCOPUS:33847372006
SN - 0780393937
SN - 9780780393936
T3 - Proceedings - IEEE Military Communications Conference MILCOM
BT - MILCOM 2005
T2 - MILCOM 2005: Military Communications Conference 2005
Y2 - 17 October 2005 through 20 October 2005
ER -