SeoungKyou Lee

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In this paper, we present flocking with cohesive configuration control - motion controllers that allow multiple robots to move through the environment as a coherent group while maintaining connectivity and density invariants. We start with a flocking controller from the literature. First, we produce a boundary force on robots that are on the internal and(More)
This paper presents a distributed approach for exploring and triangulating an unknown region using a multirobot system. The resulting triangulation is a physical data structure that is a: compact representation of the workspace, contains distributed knowledge of each triangle, builds the dual graph of the triangulation, and supports reads and writes of(More)
In recent years, the field of robotics has seen two diverging trends. One has been to achieve progress by increasing the capabilities of individual robots, keeping the cost of state-of-art machines relatively high. An opposite direction has been to develop simpler and cheaper platforms, at the expense of reducing the capabilities per robot. The latter(More)
In this paper, we present deformable configuration control - a fully distributed algorithm that allows multiple robots to deform their configuration to avoid various shapes of obstacles while maintaining connectivity. Robots contacted with an obstacle first estimate the width of an obstacle by sharing bumped status of individual robots, and choose an(More)
We give lower bounds for various natural nodeand edgebased local strategies for exploring a graph. We consider this problem both in the setting of an arbitrary graph as well as the abstraction of a geometric exploration of a space by a robot, both of which have been extensively studied. We consider local exploration policies that use time-oflast-visit or(More)
We present and analyze methods for patrolling and surveillance in an environment with a distributed swarm of robots with limited capabilities. Our approach is based on a distributed triangulation of the work space, in which a set of p stationary sensors provides coverage control; in addition, there are r mobile robots that can move between the sensors.(More)
Positioning a group of robots at the center of their geodesic Voronoi cells minimizes the worst-case response time for any robot to arrive at an exogenous event in the workspace. We construct these cells in a distributed fashion, building on our prior work on triangulating unknown spaces with multi-robot systems. This produces a physical data structure - a(More)
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