抄録
This paper addresses the self-configuration problem for a swarm of autonomous mobile robots. As our solution approach, an adaptive local interaction algorithm is proposed to allow individual robots to form different equilateral triangular configurations according to their local distributions. Specifically, Delaunay triangulation is applied to calculate the areas of individual triangles generated around each robot. From the computation, the proposed algorithm computes the average area. Next, each robot estimates a side length enabling to form an equilateral triangle with the same average area. By using the proposed algorithm, robot swarms can self-configure themselves while adapting to their distribution conditions. Through extensive simulations, we verify the effectiveness of the proposed algorithm.
