Pheromone
robotics utilizes the biologically inspired pheromone phenomena to coordinate the
actions of a large number of robots [33]. Our previous work addresses the integrated
task planning, sensing and control of robot systems based on a perceptive reference
frame approach [36].
The combination of graph theory and decentralized control for cooperation of
multiple robots is receiving more attention [15], [17]. A wireless network of mobile
robots can be modeled as an undirected graph or a directed graph [37], [19], [17].
Graph theory has also been used in the network coverage and sensor deployment for
static sensor networks [29]. Mobile robot sensor deployment based on graph theory
for area coverage has also been discussed [22], [23]. In [30], the cooperative control
of a vehicle network is discussed using virtual bodies and artificial potentials. In [15]
and [21], a controlled graph is presented for a group of mobile robots to organize
themselves into and to maintain a desired formation shape. In [10], an event based
approach is discussed for dynamic coverage of a mobile sensor network. This work is
also motivated by [14] in which a deployment algorithm based on Voronoi diagrams
is discussed. The approach proposed in this work uses the Delaunay triangulation as
the data structure which avoids the computation of Voronoi diagrams. A mobile robot
coordinates with only its one-hop neighbors, defined by the Delaunay triangulation,
but a global objective can be achieved.
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