Distributed Voronoi Neighbor Identification From Inter-Robot Distances
Distributed Voronoi Neighbor Identification From Inter-Robot Distances
复制标题
根据机器人间距离进行分布式 Voronoi 邻居识别
DOI：
10.1109/lra.2017.2665696
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发表时间：
2017
影响因子：
5.2
通讯作者：
K. Lynch
中科院分区：
文献类型：
--
作者：
Matthew L. Elwin;R. Freeman;K. Lynch
用于识别 Voronoi 邻居和构建 Voronoi 区域的算法在许多分布式机器人应用中非常有用。仅使用机器人之间的距离执行这些任务的现有方法会在应用另一种算法查找 Voronoi 邻居之前为每个潜在邻居分配坐标。我们的方法更有效地找到 Voronoi 邻居；识别直接根据机器人间的距离进行，无需首先分配坐标。我们证明了该算法的正确性，分析了其计算复杂性，并通过使用经过实验验证的传感器模型进行仿真，证明了其在存在噪声的情况下的有效性。
Algorithms for identifying Voronoi neighbors and constructing Voronoi regions are useful in many distributed robotics applications. Existing methods that perform these tasks using only the distances between robots assign coordinates to each potential neighbor before applying another algorithm to find the Voronoi neighbors. Our method finds the Voronoi neighbors more efficiently; identification occurs directly from inter-robot distances, without first assigning coordinates. We prove the algorithm's correctness, analyze its computational complexity, and demonstrate its effectiveness in the presence of noise via simulation with an experimentally validated sensor model.