Cooperative exploration and protection of a workspace assisted by information networks

Kim, Jonghoek

doi:10.1007/s10472-013-9383-5

Cited by 23 publications

(36 citation statements)

References 31 publications

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“…As far as we know, our intruder capturing strategy is unique in robustness to time delay in data transfer. (Using the same argument as presented in this article, we can prove that the strategy in the study by Kim 15 is robust to time delay using the network. However, Kim 15 did not discuss its robustness to time delay.)…”

Section: Introductionmentioning

confidence: 66%

“…In our article, we consider a workspace such that information nodes are deployed along the Voronoi diagram in the workspace. The networking strategy in the study by Kim 15 can be applied to build the information network along the Voronoi diagram. In this section, we briefly introduce the networking strategy in the study by Kim.…”

Section: Cooperative Exploration and Networking Strategy In 15mentioning

confidence: 99%

“…In this section, we briefly introduce the networking strategy in the study by Kim. 15 Using the networking strategy described in the study by Kim, 15 multiple robots explore an unknown workspace while deploying information nodes at Voronoi vertices. Moreover, information nodes are deployed along long Voronoi edges in order to relay data from one node to another node out of the maximum sensing range.…”

Section: Cooperative Exploration and Networking Strategy In 15mentioning

confidence: 99%

“…Voronoi diagrams have been widely used for topological maps in robotics. [9][10][11][12][13][14][15] Choset and Burdick 16 argued that a Voronoi vertex whose degree is bigger than three is not ''stable.'' For example, suppose that there exists a circle that is tangential to four obstacles.…”

Section: Introductionmentioning

confidence: 99%

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Capturing intruders based on Voronoi diagrams assisted by information networks

Kim

2017

International Journal of Advanced Robotic Systems

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We consider a scenario of deploying multiple robots to capture all intruders in a cluttered workspace with many obstacles. Here, we say that a robot captures an intruder in the case where the intruder is within the maximum range of a weapon on the robot. All robots use the Voronoi diagram as the topological map of the workspace. Due to obstacles, intruders are confined to move along a passage between obstacles. Suppose the weapons on every robot are powerful enough to cover a passage in the workspace. Then, we can consider a simplified scenario such that robots and intruders are restricted to stay on the Voronoi diagram. We assume that a robot can detect the position of any intruder using the information network. This article presents an intruder capturing strategy that is robust to time delay in data transfer using the network. Our strategy does not require the localization of a node or a robot. Based on this strategy, we provide an upper bound for the minimum number of robots required to capture all intruders on a general graph, which leads to a result of the Voronoi diagram. Lastly, we provide MATLAB (version 7.10.0 R2010a) simulations to verify the effectiveness of our capturing strategy.

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Section: Introductionmentioning

confidence: 66%

Section: Cooperative Exploration and Networking Strategy In 15mentioning

confidence: 99%

Section: Cooperative Exploration and Networking Strategy In 15mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Capturing intruders based on Voronoi diagrams assisted by information networks

Kim

2017

International Journal of Advanced Robotic Systems

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“…Thus, our algorithms require less memory compared to other multi-robot networking algorithms in the literature. 5,26,27 SCN algorithms use two rules for exploration and networking: boundary updating rule and boundary merging rule. These two rules search for an unexplored vertex along EB, thus can be implemented utilizing the data of vertices…”

Section: Complexity Analysismentioning

confidence: 99%

Workspace exploration and protection with multiple robots assisted by sensor networks

Kim

2018

International Journal of Advanced Robotic Systems

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This article introduces multi-robot strategies making multiple robots explore an unknown environment in a cooperative manner. Our exploration strategies do not require global localization of a robot or a node. Multiple robots build a Voronoi diagram as a topological map of the environment, while deploying sensor nodes which can sense and communicate. As the sensor network built by one robot meets the network built by another robot, both robots can exchange data with each other. The robots then use the merged sensor network to protect the environment. We introduce an intruder capture algorithm assuming that a robot is able to access any intruder's location utilizing the sensor network. This algorithm is robust to time delay in information sharing utilizing the sensor network. Utilizing the algorithm, we derive upper bounds on the number of robots needed to capture every intruder in the environment. This article proves that the minimum number of robots needed can be computed by finding proper edge covers of the dual graph of the Voronoi diagram.

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Topological Map Building with Multiple Agents Having Abilities of Dropping Indexed Markers

Kim

2021

J Intell Robot Syst

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Cooperative exploration and protection of a workspace assisted by information networks

Cited by 23 publications

References 31 publications

Capturing intruders based on Voronoi diagrams assisted by information networks

Capturing intruders based on Voronoi diagrams assisted by information networks

Workspace exploration and protection with multiple robots assisted by sensor networks

Topological Map Building with Multiple Agents Having Abilities of Dropping Indexed Markers

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