IEEERoboticsandAutomationLetters(RA-L)paperpresentedatthe
2017IEEEInternationalConferenceonRoboticsandAutomation(ICRA)
Singapore,May29-June3,2017
DistributedVoronoiNeighborIdentificationfromInter-RobotDistances
MatthewL.Elwin,RandyA.Freeman,andKevinM.Lynch
—AlgorithmsforidentifyingVoronoineighborsandlocalization.Thealgorithmdependsononlybasicarith-
constructingVoronoiregionsareusefulinmanydistributedmeticoperationsandterminatesaftervisitingeachVoronoi
roboticsapplicationistingmethodsthatperformthesetasksneighbor;thusitcanbesignificantlymoreefficientthan
usingonlythedistancesbetweenrobotsassigncoordinatesto
eachpotentialneighborbeforeapplyinganotheralgorithmtofirstrequiringlocalizationofnearbyrobots.Thealgorithm
findtheVoronoineighbors.OurmethodfindstheVoronoipreservestopologicalrelationshipsbetweenneighborsin
neighborsmoreefficiently;identificationoccursdirectlyfromtheVoronoigraph,allowingrobotstodetectiftheyare
inter-robotdistances,withoutfirstassigningcoordinates.Weontheboundaryoftheconvexhullofthegroupwithout
provethealgorithm’scorrectness,analyzeitscomputationaladditionalcomputation.Onceidentified(andonlyifdesired),
complexity,anddemonstrateitseffectivenessinthepresence
ofnoiseviasimulationwithanexperimentallyvalidatedsensortheVoronoiregioncanbedescribedinlocalcoordinates;the
model.topologicalinformationfromtheidentificationstagemakes
thisstepeasierthansolvingagene
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