Visible to the public Dense r-robust formations on lattices

TitleDense r-robust formations on lattices
Publication TypeConference Paper
Year of Publication2020
AuthorsGuerrero-Bonilla, Luis, Saldaña, David, Kumar, Vijay
Conference Name2020 IEEE International Conference on Robotics and Automation (ICRA)
Date PublishedAug. 2020
ISBN Number978-1-7281-7395-5
KeywordsCommunication networks, control theory, energy consumption, Human Behavior, Lattices, pubcrawl, resilience, Resiliency, Robot kinematics, Robot sensing systems, Robustness, Scalability
AbstractRobot networks are susceptible to fail under the presence of malicious or defective robots. Resilient networks in the literature require high connectivity and large communication ranges, leading to high energy consumption in the communication network. This paper presents robot formations with guaranteed resiliency that use smaller communication ranges than previous results in the literature. The formations can be built on triangular and square lattices in the plane, and cubic lattices in the three-dimensional space. We support our theoretical framework with simulations.
Citation Keyguerrero-bonilla_dense_2020