relation: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/1367/
title: Self-Deployment Strategy for a Swarm of Robots with Global Network Preservation to Assist Rescuers in Hazardous Environments
creator: Pham, Duy Hung
creator: Pham, Minh Trien
creator: Tran, Quang Vinh
creator: Ngo, Trung Dung
subject: Electronics and Communications
subject: Electronics and Computer Engineering
description: In this paper, we present a self-deployment strategy for a swarm of robots that is capable of exploring and identifying victims in an unknown structured building environment while preserving a global network interConnectivity for information exchange. The strategy are conducted in two phases: self-displacement shifting the robotic swarm from room to room, and self-dispersion and aggregation for exploration and coverage in each room. A decentralised control is built up by decentralised node control governing the dispersion and aggregation and decentralised connectivity control guaranteeing the global network preservation. The self-deployment strategy reduces significantly number of the robots while increasing its capacity of exploration and coverage. The simulation results illustrate technical aspects of the robotic swarm with the application of exploration, search and rescue services.
date: 2014-12-05
type: Conference or Workshop Item
type: PeerReviewed
identifier:   Pham, Duy Hung and Pham, Minh Trien and Tran, Quang Vinh and Ngo, Trung Dung  (2014) Self-Deployment Strategy for a Swarm of Robots with Global Network Preservation to Assist Rescuers in Hazardous Environments.  In: IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 5-10 December 2014, Bali, Indonesia.     
relation: http://10.1109/ROBIO.2014.7090743