eprintid: 1367
rev_number: 11
eprint_status: archive
userid: 5
dir: disk0/00/00/13/67
datestamp: 2015-08-14 04:57:32
lastmod: 2017-06-10 12:03:21
status_changed: 2015-08-14 04:57:32
type: conference_item
metadata_visibility: show
creators_name: Pham, Duy Hung
creators_name: Pham, Minh Trien
creators_name: Tran, Quang Vinh
creators_name: Ngo, Trung Dung
creators_id: hungpd@vnu.edu.vn
creators_id: trienpm@vnu.edu.vn
creators_id: vinhtq@vnu.edu.vn
creators_id: ntdung@gmail.com
title: Self-Deployment Strategy for a Swarm of Robots with Global Network Preservation to Assist Rescuers in Hazardous Environments
ispublished: pub
subjects: ECE
subjects: ElectronicsandComputerEngineering
divisions: fac_fet
abstract: 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
date_type: published
official_url: http://10.1109/ROBIO.2014.7090743
full_text_status: none
pres_type: paper
pagerange: 2655-2660
event_title: IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)
event_location: Bali, Indonesia
event_dates: 5-10 December 2014
event_type: conference
refereed: TRUE
citation:   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.