Some Provable Properties of VERI Clustering

Osbourn, G. C.

doi:10.2172/760739

Cited by 1 publication

(2 citation statements)

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“…First, all of the agents are part of a connected graph. This property has been proven to be true for any number and configuration of agents and any dimensionality of the agent spatial positions [6]. Second, the graph edges for each agent have a minimum relative angle between them.…”

Section: Clustering Networkmentioning

confidence: 83%

“…Many simple mathematical ROI shapes have been explored in the literature, and the mathematical properties of the resulting graphs have been examined. Here we present a new ROI shape that we have proposed, called the bow tie [6], that has been designed to produce useful graph structures for purposes of swarm agent interactions and communication. We first present the shape, then describe and illustrate the graph properties that provably follow from this shape.…”

Section: Clustering Networkmentioning

confidence: 99%

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Some Novel Design Principles for Collective Behaviors in Mobile Robots

Osbourn¹

2002

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We present a set of novel design principles to aid in the development of complex collective behaviors in fleets of mobile robots. The key elements are: the use of a graph algorithm that we have created, with certain proven properties, that guarantee scalable local communications for fleets of arbitrary size; the use of artificial forces to simplify the design of motion control; the use of certain proximity values in the graph algorithm to simplify the sharing of robust navigation and sensor information among the robots. We describe these design elements and present a computer simulation that illustrates the behaviors readily achievable with these design tools.

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Section: Clustering Networkmentioning

confidence: 83%

Section: Clustering Networkmentioning

confidence: 99%