[1]CAI Zi-xing,REN Xiao-ping,ZOU Lei.A simulated communications system for distributed multirobots[J].CAAI Transactions on Intelligent Systems,2009,4(4):309-313.
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A simulated communications system for distributed multirobots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 4 Number of periods: 2009 4 Page number: 309-313 Column: 学术论文—智能系统 Public date: 2009-08-25
Title:
A simulated communications system for distributed multirobots
Author(s):
CAI Zi-xing;  REN Xiao-ping;  ZOU Lei
School of Information Science and Engineering,Central South University, Changsha 410075, China
Keywords:
multirobots system ;  simulation system;  communication network; coverage connectivity;  virtual force
CLC:
TP393.01
DOI:
-
Abstract:
An architecture for simulating a communication system for multirobots was developed and tested. The proposed system primarily reflects changes in the communication modes of robots and the topology of their communication network. A modularized design technology was adopted. Some interfaces were reserved in advance for research in areas such as robot avoidance, task distribution and coverage connectivity, and so on. At present, multirobots coverage is a research hotspot in the field of multiple mobile robots and wireless sensor networks. We developed a special strategy to allocate robots using virtual forces among them; the robots would then cover the monitored area as much as possible. It has been proven that a regular hexagon provides maximum coverage with least waste; this was the basis of our approach. Experiments showed that this distributed algorithm moved robots to extend their coverage by the virtual force among robots while maintaining network connectivity. This proves the effectiveness of the virtual force coverage strategy. 
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