Abstract
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.
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© 2007 Springer Berlin Heidelberg
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McNew, JM., Klavins, E., Egerstedt, M. (2007). Solving Coverage Problems with Embedded Graph Grammars. In: Bemporad, A., Bicchi, A., Buttazzo, G. (eds) Hybrid Systems: Computation and Control. HSCC 2007. Lecture Notes in Computer Science, vol 4416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71493-4_33
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DOI: https://doi.org/10.1007/978-3-540-71493-4_33
Publisher Name: Springer, Berlin, Heidelberg
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