Biconnecting a Network of Mobile Robots Using Virtual Angular Forces
This paper addresses the problem of self-deploying a swarm of wireless mobile robots in a biconnected fashion. The motivations for deploying robotic sensor networks in general include accessing places where human cannot go (e.g. remote planets, underwater area, dangerous spots with chemical or radioactive leaks), or automating fastidious large scale deployment (e.g. spreading intrusion or fire detectors over a large area). Once deployed, the robots are intended to perform collective tasks related to monitoring, collecting, or processing information sensed in the surrounding environment.