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Decentralized self-repair to maintain connectivity and coverage in networked multi-robot systems

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3 Author(s)
Derbakova, A. ; Comput. Sci. & Artificial Intell. Lab., Mas sachusetts Inst. of Technol., Cambridge, MA, USA ; Correll, Nikolaus ; Rus, D.

We present a suite of algorithms that enable a team of mobile robots to repair connectivity in a wireless mesh network. Each robot carries a wireless router and can act as a mobile access point. The algorithms are distributed, with each robot computing it's trajectory using its position, the positions of its neighbors within communication range, and the position of a gateway node. The algorithms are validated via an analytical model as well as field experiments with 7 Create robots.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011

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