A Localized Algorithm for Bi-Connectivity of Connected Mobile Robots

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Executive Summary

Teams of multiple mobile robots may communicate with each-other using a wireless ad-hoc network. Fault-tolerance in communication can be achieved by making the communication network bi-connected. The authors present the first localized protocol for constructing a fault-tolerant bi-connected robotic network topology from a connected network, in such a way that the total movement of robots is minimized. The proposed distributed algorithm uses p-hop neighbor information to identify critical head robots that can direct two neighbors to move toward each other and bi-connect their neighborhood.

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