10. Self-deployment of 50 mobile robots in an open space. Neighborhoods of the mobile
robot are defined by DT and PDT respectively. The robots congregate into a small area to
enhance the sensing capabilities.
In an initial deployment where the robots are aggregated within a small area,
there are too many robots within each other??™s communication range, such as the situation
in Figure 11(a). It introduces a significant computation and communication
overhead to calculate a robot??™s Delaunay neighbors locally. To avoid this undesirable
situation, each robot can adjust its own visibility of communication to reduce the
overhead. As a matter of fact, a robot need only consider the closest robots in calculating
its partial Delaunay triangulation. The simulation results for the algorithms
based on a centralized Delaunay triangulation and a partial Delaunay triangulation
with fixed communication range are shown in Figures 11(b) and (c). Figure 11(d)
??’100 ??’80 ??’60 ??’40 ??’20 0 20 40 60 80 100
??’100
??’80
??’60
??’40
??’20
0
20
40
60
80
100
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
??’100 ??’80 ??’60 ??’40 ??’20 0 20 40 60 80 100
??’100
??’80
??’60
??’40
??’20
0
20
40
60
80
100
1
2
3 4
5
6
7
8
9
10
11
12
13
14
15
16
17 18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43 44
45
46
47
48
49
50
??’100 ??’80 ??’60 ??’40 ??’20 0 20 40 60 80 100
??’100
??’80
??’60
??’40
??’20
0
20
40
60
80
100
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
??’100 ??’80 ??’60 ??’40 ??’20 0 20 40 60 80 100
??’100
??’80
??’60
??’40
??’20
0
20
40
60
80
100
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
78 Jindong Tan
shows the simulation of the algorithm while the partial Delaunay triangulation is
calculated when a small number of closest neighbors are considered.
Pages:
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151