A topological perspective on cycling robots for full tree coverage

Han Wang, Cheng Chen, Yuliy Baryshnikov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We study the topology of the space of coverings for a metric tree with disks embedded in the tree. Focusing on the coverings with excess one disk, we prove that its topological structure is that of a Cayley graph of the permutation group Sn.What follows is a centralized algorithm for stabilizing periodic swarm coverings based upon feedback control with the designed vector field on a maximal subset of the space, removing discontinuity loci.

Original languageEnglish
Title of host publicationAlgorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
EditorsA. Frank van der Stappen, H. Levent Akin, Nancy M. Amato, Volkan Isler
PublisherSpringer Verlag
Pages659-675
Number of pages17
ISBN (Print)9783319165943
DOIs
Publication statusPublished - Jan 1 2015
Externally publishedYes
Event11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 - Istanbul, Turkey
Duration: Aug 3 2014Aug 5 2014

Publication series

NameSpringer Tracts in Advanced Robotics
Volume107
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Conference

Conference11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
CountryTurkey
CityIstanbul
Period8/3/148/5/14

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • Cite this

    Wang, H., Chen, C., & Baryshnikov, Y. (2015). A topological perspective on cycling robots for full tree coverage. In A. F. van der Stappen, H. Levent Akin, N. M. Amato, & V. Isler (Eds.), Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 (pp. 659-675). (Springer Tracts in Advanced Robotics; Vol. 107). Springer Verlag. https://doi.org/10.1007/978-3-319-16595-0_38