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2019 | OriginalPaper | Chapter

Boundary Detection in a Swarm of Kilobots

Authors : Yingyi Kuang, Yuri Kaszubowski Lopes, Roderich Groß

Published in: Towards Autonomous Robotic Systems

Publisher: Springer International Publishing

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Abstract

This paper presents a distributed boundary detection method for a swarm of robots. It employs the cyclic-shape algorithm together with a local coordinate identification, thereby allowing boundary detection without bearing measurements. Each robot can communicate with, and estimate the distance to, its neighbouring robots. The method is validated using swarms of up to 45 Kilobot robots.

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Title: Boundary Detection in a Swarm of Kilobots
Authors: Yingyi Kuang
Yuri Kaszubowski Lopes
Roderich Groß
Publisher: Springer International Publishing
Book: Towards Autonomous Robotic Systems
Print ISBN: 978-3-030-25331-8

Electronic ISBN: 978-3-030-25332-5

Copyright Year: 2019
DOI: https://doi.org/10.1007/978-3-030-25332-5_41

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