Startseite > Publikationen > Publikationen

Publikationen

Dynia, Miroslaw;Kutylowski, Jaroslaw;Lorek, Pawel;Meyer auf der Heide, Friedhelm:

Maintaining Communication Between an Explorer and a Base Station.

In: IFIP 19th World Computer Congress, TC10: 1st IFIP International Conference on Biologically Inspired Computing, S. 137--146, 1. Jan. 2006

Abstract

Consider a (robotic) explorer starting an exploration of an unknown terrain from its base station. As the explorer has only limited communication radius, it is necessary to maintain a line of robotic relay stations following the explorer, so that consecutive stations are within the communication radius of each other. This line has to start in the base station and to end at the explorer. In the simple scenario considered here we assume an obstacle-free ter- rain, so that the shortest connection (the one which needs the smallest number of relay stations) is a straight line. We consider an explorer who goes an arbitrary, typically winding way, and define a very sim- ple, intuitive, fully local, distributed strategy for the relay stations - our Go-To-The-Middle strategy - to maintain a line from the base station to the robot as short as possible. Besides the definition of this strategy, we present an analysis of its performance under different assumptions. For the static case we prove a bound on the convergence speed, for the dynamic case we present experimental evaluations that show the quality of our strategy under different types of routes the explorer could use.

Dateien

hni2682.pdf



Bibtex

@inproceedings{hniid=2682,
author = {Dynia, Miroslaw and Kutylowski, Jaroslaw and Lorek, Pawel and Meyer auf der Heide, Friedhelm},
title = {Maintaining Communication Between an Explorer and a Base Station},
booktitle = {IFIP 19th World Computer Congress, TC10: 1st IFIP International Conference on Biologically Inspired Computing},
pages = {137--146},
month = {1~} # jan,
year = {2006},
}

BibTeX in die Zwischenablage kopieren

Permalink

https://www.hni.uni-paderborn.de/pub/2682