Self-organised swarm display

摘要

Using multiple interconnected light-emitting devices in order to compose large images has been an active research area in recent years. The localisation of devices involved is usually achieved via camera-based techniques, which do not allow for the devices to be mobile. We propose an image construction algorithm designed to be robust under mobility of the devices. This allows for the creation and maintenance of a display even when the devices are thrown into water of moved by the wind. Two state-of-the-art distance estimation techniques are used for multilateration and compared in terms of performance and computational complexity. A quality measure based on the colour difference is developed for evaluation of composite images. Furthermore, a scaling technique is developed which improves image quality. In simulative experiments, the impact of mobility of the devices is investigated for both distance estimation methods. While the estimation technique based on communication hop counting shows better results in static networks, our newly designed connectivity-based approach is found to be more robust under dynamic conditions.