抄録
We propose a novel algorithm for making dynamic ad-hoc networks using a large number of autonomous small robots, and verified the effectiveness of the proposed algorithm through simulations and actual environment. The algorithm uses only direct communications and their RSSI to repel other robots unlike previous methods using additional sensors. We tested the algorithm in two sides, expansion and covering in simulation. Expansion means how fast robots can expand in extensive area neglecting target area. Covering means how fast robots can cover target area. We also tested in real environment including noises. As a result, we clarified an effectiveness of the algorithm in both virtual and real situation.
