Mobile robot deployment based on Voronoi diagram

Yutaka Uchimura, Takaaki Imaizumi, Hiroyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper describes a new method for deployment of wireless relay nodes. When applying rescue robots in building or underground city, the wireless radio is attenuated significantly, thus multi-hop extension by relay of wireless communication is required. The goal of research is to deploy relay wireless nodes to maintain connectivity from the base station to the leader robot which explores around the front line. To move the relay robot autonomously, distributed algorithm is required. The method overcomes conventional distributed algorithm, when applying it for wireless relay purpose. In the method, a virtual force which drives a node to the centroid of Voronoi neighbors and it works to maintain the connectivity of wireless communication. The evaluation of proposed method is conducted by numerical simulations and experiments. In the simulation, one or two leader robots are assumed. In the experiment, a mobile robot equipped with omni-wheels is used.

Original languageEnglish
Title of host publicationProceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
Pages71-76
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 1st International Symposium on Access Spaces, ISAS 2011 - Yokohama
Duration: 2011 Jun 172011 Jun 19

Other

Other2011 1st International Symposium on Access Spaces, ISAS 2011
CityYokohama
Period11/6/1711/6/19

Fingerprint

Mobile robots
Robots
Parallel algorithms
Communication
Base stations
Wheels
Experiments
Computer simulation

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

Cite this

Uchimura, Y., Imaizumi, T., & Murakami, H. (2011). Mobile robot deployment based on Voronoi diagram. In Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011 (pp. 71-76). [5960923] https://doi.org/10.1109/ISAS.2011.5960923

Mobile robot deployment based on Voronoi diagram. / Uchimura, Yutaka; Imaizumi, Takaaki; Murakami, Hiroyuki.

Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011. 2011. p. 71-76 5960923.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Uchimura, Y, Imaizumi, T & Murakami, H 2011, Mobile robot deployment based on Voronoi diagram. in Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011., 5960923, pp. 71-76, 2011 1st International Symposium on Access Spaces, ISAS 2011, Yokohama, 11/6/17. https://doi.org/10.1109/ISAS.2011.5960923
Uchimura Y, Imaizumi T, Murakami H. Mobile robot deployment based on Voronoi diagram. In Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011. 2011. p. 71-76. 5960923 https://doi.org/10.1109/ISAS.2011.5960923
Uchimura, Yutaka ; Imaizumi, Takaaki ; Murakami, Hiroyuki. / Mobile robot deployment based on Voronoi diagram. Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011. 2011. pp. 71-76
@inproceedings{1554591431a24c08a6feacc58ee917d2,
title = "Mobile robot deployment based on Voronoi diagram",
abstract = "This paper describes a new method for deployment of wireless relay nodes. When applying rescue robots in building or underground city, the wireless radio is attenuated significantly, thus multi-hop extension by relay of wireless communication is required. The goal of research is to deploy relay wireless nodes to maintain connectivity from the base station to the leader robot which explores around the front line. To move the relay robot autonomously, distributed algorithm is required. The method overcomes conventional distributed algorithm, when applying it for wireless relay purpose. In the method, a virtual force which drives a node to the centroid of Voronoi neighbors and it works to maintain the connectivity of wireless communication. The evaluation of proposed method is conducted by numerical simulations and experiments. In the simulation, one or two leader robots are assumed. In the experiment, a mobile robot equipped with omni-wheels is used.",
author = "Yutaka Uchimura and Takaaki Imaizumi and Hiroyuki Murakami",
year = "2011",
doi = "10.1109/ISAS.2011.5960923",
language = "English",
isbn = "9781457707179",
pages = "71--76",
booktitle = "Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011",

}

TY - GEN

T1 - Mobile robot deployment based on Voronoi diagram

AU - Uchimura, Yutaka

AU - Imaizumi, Takaaki

AU - Murakami, Hiroyuki

PY - 2011

Y1 - 2011

N2 - This paper describes a new method for deployment of wireless relay nodes. When applying rescue robots in building or underground city, the wireless radio is attenuated significantly, thus multi-hop extension by relay of wireless communication is required. The goal of research is to deploy relay wireless nodes to maintain connectivity from the base station to the leader robot which explores around the front line. To move the relay robot autonomously, distributed algorithm is required. The method overcomes conventional distributed algorithm, when applying it for wireless relay purpose. In the method, a virtual force which drives a node to the centroid of Voronoi neighbors and it works to maintain the connectivity of wireless communication. The evaluation of proposed method is conducted by numerical simulations and experiments. In the simulation, one or two leader robots are assumed. In the experiment, a mobile robot equipped with omni-wheels is used.

AB - This paper describes a new method for deployment of wireless relay nodes. When applying rescue robots in building or underground city, the wireless radio is attenuated significantly, thus multi-hop extension by relay of wireless communication is required. The goal of research is to deploy relay wireless nodes to maintain connectivity from the base station to the leader robot which explores around the front line. To move the relay robot autonomously, distributed algorithm is required. The method overcomes conventional distributed algorithm, when applying it for wireless relay purpose. In the method, a virtual force which drives a node to the centroid of Voronoi neighbors and it works to maintain the connectivity of wireless communication. The evaluation of proposed method is conducted by numerical simulations and experiments. In the simulation, one or two leader robots are assumed. In the experiment, a mobile robot equipped with omni-wheels is used.

UR - http://www.scopus.com/inward/record.url?scp=80051815305&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=80051815305&partnerID=8YFLogxK

U2 - 10.1109/ISAS.2011.5960923

DO - 10.1109/ISAS.2011.5960923

M3 - Conference contribution

SN - 9781457707179

SP - 71

EP - 76

BT - Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011

ER -