AAAI Publications, Twenty-Eighth International Conference on Automated Planning and Scheduling

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Minimizing Movement to Establish the Connectivity of Randomly Deployed Robots
K. Selim Engin, Volkan Isler

Last modified: 2018-06-15


We study the following connectivity formation problem: Robots equipped with radio transmitters with a bounded communication range are scattered over a large area. They would like to relocate so as to form a connected network as soon as possible. Where should each robot move? We present an $O(\sqrt{n})$-factor approximation algorithm for this problem when $n$ robots are initially distributed uniformly at random in a bounded area. In addition to analytical proofs, we verify the performance of our algorithm through simulations.


multi-robot systems; robot planning and plan execution; networked robot systems

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