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Keeping in Touch: Maintaining Biconnected Structure by Homogeneous Robots.
Mazda
Ahmadi and Peter Stone.
In Proceedings of the Twenty-First National
Conference on Artificial Intelligence, pp. 580–85, July 2006.
AAAI
2006.
Additional details on the distributed "biconnected check" can be found in Keeping
in Touch: A Distributed Check for Biconnected Structure by Homogeneous Robots in the 2006 International Symposium
on Distributed Autonomous Robotic Systems (DARS 2006).
[PDF]105.0kB [postscript]128.8kB
For many distributed autonomous robotic systems, it is important to maintain communication connectivity among the robots. That is, each robot must be able to communicate with each other robot, perhaps through a series of other robots. Ideally, this property should be robust to the removal of any single robot from the system. In this work, we define a property of a team's communication graph that ensures this property, called biconnectivity. We present a distributed algorithm to check if a team of robots is biconnected, prove its correctness, and analyze it theoretically. We also provide distributed algorithms to add and remove robots to/from a multi-robot team while maintaining the biconnected property. These two algorithms are implemented and tested in the Player/Stage simulator.
@InProceedings{AAAI06-mazda,
author="Mazda Ahmadi and Peter Stone",
title="Keeping in Touch: Maintaining Biconnected Structure by Homogeneous Robots",
booktitle="Proceedings of the Twenty-First National Conference on Artificial Intelligence",
month="July",year="2006",
pages="580--85",
abstract={
For many distributed autonomous robotic systems, it
is important to maintain communication connectivity
among the robots. That is, each robot must be able
to communicate with each other robot, perhaps
through a series of other robots. Ideally, this
property should be robust to the removal of any
single robot from the system. In this work, we
define a property of a team's communication graph
that ensures this property, called biconnectivity.
We present a distributed algorithm to check if a
team of robots is biconnected, prove its
correctness, and analyze it theoretically. We also
provide distributed algorithms to add and remove
robots to/from a multi-robot team while maintaining
the biconnected property. These two algorithms are
implemented and tested in the Player/Stage
simulator.
},
wwwnote={<a href="http://www.aaai.org/Conferences/AAAI/aaai06.php">AAAI 2006</a>.<br> Additional details on the distributed "biconnected check" can be found in <a href="http://www.cs.utexas.edu/~pstone/Papers/2006dars/ubiconnected.pdf"><b>Keeping in Touch: A Distributed Check for Biconnected Structure by Homogeneous Robots</b></a> in the 2006 International Symposium on Distributed Autonomous Robotic Systems (<a href="http://dars06.cs.umn.edu/">DARS 2006</a>).},
}
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