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Mazda Ahmadi and Peter Stone.
Keeping in Touch: A Distributed Check for Biconnected Structure by Homogeneous Robots. In The 8th International
Symposium on Distributed Autonomous Robotic Systems, July 2006.
DARS 2006.
[PDF]122.5kB [postscript]187.2kB
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.
@InProceedings(DARS06,
author="Mazda Ahmadi and Peter Stone",
title="Keeping in Touch: A Distributed Check for Biconnected Structure by Homogeneous Robots",
booktitle="The 8th International Symposium on Distributed Autonomous Robotic Systems",
month="July",year="2006",
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.
},
wwwnote={<a href="http://dars06.cs.umn.edu/">DARS 2006</a>.},
)
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