Morphing a Mobile Robot Network to Dynamic Task Changes over time and space

Erkmen, Aydan Müşerref
Topal, Sebahattin
Erkmen, İsmet
In this paper, we develop a graph theoretic model for a robot colony that morphs itself according to changing tasks for search and rescue operations. The main goal of the proposed control strategy is to reconfigure the robot colony autonomously and seamlessly in order to achieve the given task. We introduce a novel highly decentralized coordination control algorithm that can extract enough information about what each robot is doing and can estimate their next action in the task space. This action selection is done with the help of local knowledge, based on a decentralized decision mechanism. Moreover we equip the method with a morphing capability to sudden changes of task characteristics and of task execution areas. To show the ability of the developed algorithm we base our disaster scenario on a forest fire where the fire can spread unexpectedly and the burning centers can change dynamically in time over space. The proposed method is tested in a simulation environment and the validity of the developed coordination control has been demonstrated.
Citation Formats
A. M. Erkmen, S. Topal, and İ. Erkmen, “Morphing a Mobile Robot Network to Dynamic Task Changes over time and space,” presented at the International Conference on Automation Robotics and Control, ARCS-09, (15 - 21 Ağustos 2009), Orlando, Florida, USA, 2009, Accessed: 00, 2021. [Online]. Available: