Solving Coverage Problems with Embedded Graph Grammars

We show how Embedded Graph Grammars (EGGs) are used to specify local interaction rules between mobile robots in a natural manner. This formalism allows us to treat local network topologies, geometric transition conditions, and individual robot dynamics and control modes in a unified framework. An example EGG is demonstrated that achieves sensor coverage in a provably stable and correct manner. The algorithm results in a global network with a lattice-like triangulation.

• Type: Conference
• Year: 2007
• Where: HYBRID
• Authors: John-Michael McNew, Eric Klavins, Magnus Egerstedt
• Keywords: Control Systems, Embedded Graph Grammars, HYBRID 2007, Local Interaction Rules, Local Network Topologies