(a) Initial state of a densely deployed
mobile robots system
(b) Final deployment based on DT
(c) Final deployment based on PDT (d) Final deployment based on PDT
with an adjustable communication
range
Fig. 11. Self-deployment of 50 mobile robots in an open space; the robots disperse into a
larger area based on DT, PDT and PDT with an adjustable communication range.
All the above simulations assume continuous communication among robots.
However, in a real system, robots communicate with each other in a discrete and
asynchronous fashion, i.e., they communicate only at certain rates. In this situation,
robots can only execute the proposed algorithm in a discrete way. In the interval of
two communications, the Delaunay triangulation may not be updated and therefore
the controller defined in eq. (6) will not be updated. Figure 12 shows the simulation
results under this condition with different definitions of topological structure. The
initial deployment is the same with the one in Figure 10 (a). The final deployment
patterns of the whole system are very similar to the ones shown in Figure 10(b) and
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Chapter 3 A Scalable Graph Model and Coordination Algorithms 79
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