Multi-threat Containment with Dynamic Wireless Neighborhood Networks

摘要

Advances in the areas of robotics have greatly increased the complexity and number of problems that groups of robots are able to solve. This work deals with the use of homogeneous and autonomous robots dynamically forming teams to solve a multi-threat containment problem. The multi-threat containment problem has the robot teams surround a number of threats that may occur randomly. Approaches with and without utilizing wireless communication are proposed and analyzed with a focus on the effects of using wireless. Simulation results show the benefit of the proposed integrated algorithm and its performance in different scenarios.