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This paper addresses the deployment problem for a swarm of autonomous mobile robots initially randomly distributed in 3 dimensional space. A fully decentralized geometric self-configuration approach is proposed to deploy individual robots at a given spatial density. Specifically, each robot interacts with three neighboring robots in a selective and dynamic fashion without using any explicit communication so that four robots eventually form a regular tetrahedron. Using such local interactions, the proposed algorithms enable a swarm of robots to span a network of regular tetrahedrons in a designated space. The convergence of the algorithms is theoretically proved using Lyapunov theory. Through extensive simulations, we validate the effectiveness and scalability of the proposed algorithms.

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This paper introduces a novel direction-of-arrival (DoA) technique based on phase differences of electromagnetic waves. In detail, design and implementation issues for the DoA directional sensing are described, towards providing an efficient solution to mobile robot target tracking for various applications. What is the most important aspect from the practical point of view is how to realize accurate measurements of the bearing from an electromagnetic spot source. For the purpose, a DoA estimation model is proposed using a minimum number of antennas. Another focus lies in the implementation of an in-house DoA detection prototype considering the simplicity and generality of hardware configurations. This paper explains details of a purpose-built, cost-efficient solution ranging from the estimation model design to its hardware implementation suitable for autonomous robot navigation. Experimental results show that the proposed method for the DoA estimation and its hardware prototype can be considered quite satisfactory in an indoor environment.