TY  - CONF
ID  - SisLab1367
UR  - http://10.1109/ROBIO.2014.7090743
A1  - Pham, Duy Hung
A1  - Pham, Minh Trien
A1  - Tran, Quang Vinh
A1  - Ngo, Trung Dung
Y1  - 2014/12/05/
N2  - 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.
TI  - Self-Deployment Strategy for a Swarm of Robots with Global Network Preservation to Assist Rescuers in Hazardous Environments
SP  - 2655
M2  - Bali, Indonesia
AV  - none
EP  - 2660
T2  - IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)
ER  -