Fast and robust self-organization for micro-electro-mechanical robotic systems

作     者：Lakhlef, Hicham Bourgeois, Julien 

作者机构：UFC FEMTO ST UMR CNRS 6174 F-25201 Montbeliard France 

出 版 物：《COMPUTER NETWORKS》 (计算机网络)

年 卷 期：2015年第93卷第Part1期

页      面：141-152页

核心收录：

学科分类：0810[工学-信息与通信工程] 0808[工学-电气工程] 08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Labex ACTION program [ANR-11-LABX-01-01] ANR/RGC [ANR-2011-IS02-0004-01, 3-ZG1F] ANR [ANR-2011-BS03-005] 

主　　题：MEMS microrobot Distributed algorithm Self-reconfiguration Self-organization Logical topology 

摘      要：Microrobots are low-power and low-capacity memory devices that can sense and act. They perform various missions and tasks in a wide range of applications including odor localization, firefighting, medical service, surveillance and security, search and rescue. To achieve these tasks nodes should reconfigure their physical topology to another target organization. The self-organization is one of the most challenging tasks in MEMS applications. In this paper, we propose a distributed and efficient parallel self-organization protocol for chains of MEMS nodes. This protocol is memory-efficient because it does not use the predefined positions of the target shape, which reduces the memory usage to a constant complexity. Our algorithm is implemented in a real environment simulator called DPRSim, the Dynamic Physical Rendering Simulator. (C) 2015 Elsevier B.V. All rights reserved.