COVER: A Cooperative Virtual Force Robot Deployment technique

Gamal Sallam; Uthman Baroudi

doi:10.1109/CIT/IUCC/DASC/PICOM.2015.194

COVER: A Cooperative Virtual Force Robot Deployment technique

Gamal Sallam, Uthman Baroudi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

We present a Cooperative Virtual Force Robot Deployment (COVER) technique. Virtual force (VF) technique appears as one of the prominent approaches to perform multirobot deployment autonomously. However, most of the existing VF based approaches lack purposeful deployment. Our approach modifies the original VF approach to overcome this problem and considers the mission requirements such as the number of required robots in each locality (e.g., landmarks are distributed and each needs a specific number of robots in its vicinity). In addition, COVER expedites the deployment process by establishing a cooperative relation between robots and neighboring landmarks. Extensive simulation experiments have been carried out to assess the performance of COVER along with Hungarian deployment method (a centralized approach), the basic virtual force (BVF) and other recent proposed variations. The simulation results demonstrate the effectiveness of COVER for several performance factors such as total travelled distance, total exchanged messages and total deployment time.

Original language	English
Title of host publication	Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015
Editors	Luigi Atzori, Xiaolong Jin, Stephen Jarvis, Lei Liu, Ramon Aguero Calvo, Jia Hu, Geyong Min, Nektarios Georgalas, Yulei Wu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1308-1315
Number of pages	8
ISBN (Electronic)	9781509001545
DOIs	https://doi.org/10.1109/CIT/IUCC/DASC/PICOM.2015.194
State	Published - 22 Dec 2015

Publication series

Name	Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Cooperative deployment
Dynamic coverage
Multi-robot deployment
Robots
Virtual Force

ASJC Scopus subject areas

Information Systems
Artificial Intelligence
Computer Networks and Communications

Access to Document

10.1109/CIT/IUCC/DASC/PICOM.2015.194

Cite this

Sallam, G., & Baroudi, U. (2015). COVER: A Cooperative Virtual Force Robot Deployment technique. In L. Atzori, X. Jin, S. Jarvis, L. Liu, R. A. Calvo, J. Hu, G. Min, N. Georgalas, & Y. Wu (Eds.), Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015 (pp. 1308-1315). Article 7363238 (Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIT/IUCC/DASC/PICOM.2015.194

Sallam, Gamal ; Baroudi, Uthman. / COVER : A Cooperative Virtual Force Robot Deployment technique. Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015. editor / Luigi Atzori ; Xiaolong Jin ; Stephen Jarvis ; Lei Liu ; Ramon Aguero Calvo ; Jia Hu ; Geyong Min ; Nektarios Georgalas ; Yulei Wu. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1308-1315 (Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015).

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title = "COVER: A Cooperative Virtual Force Robot Deployment technique",

abstract = "We present a Cooperative Virtual Force Robot Deployment (COVER) technique. Virtual force (VF) technique appears as one of the prominent approaches to perform multirobot deployment autonomously. However, most of the existing VF based approaches lack purposeful deployment. Our approach modifies the original VF approach to overcome this problem and considers the mission requirements such as the number of required robots in each locality (e.g., landmarks are distributed and each needs a specific number of robots in its vicinity). In addition, COVER expedites the deployment process by establishing a cooperative relation between robots and neighboring landmarks. Extensive simulation experiments have been carried out to assess the performance of COVER along with Hungarian deployment method (a centralized approach), the basic virtual force (BVF) and other recent proposed variations. The simulation results demonstrate the effectiveness of COVER for several performance factors such as total travelled distance, total exchanged messages and total deployment time.",

keywords = "Cooperative deployment, Dynamic coverage, Multi-robot deployment, Robots, Virtual Force",

author = "Gamal Sallam and Uthman Baroudi",

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year = "2015",

month = dec,

day = "22",

doi = "10.1109/CIT/IUCC/DASC/PICOM.2015.194",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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editor = "Luigi Atzori and Xiaolong Jin and Stephen Jarvis and Lei Liu and Calvo, \{Ramon Aguero\} and Jia Hu and Geyong Min and Nektarios Georgalas and Yulei Wu",

booktitle = "Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015",

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Sallam, G & Baroudi, U 2015, COVER: A Cooperative Virtual Force Robot Deployment technique. in L Atzori, X Jin, S Jarvis, L Liu, RA Calvo, J Hu, G Min, N Georgalas & Y Wu (eds), Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015., 7363238, Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015, Institute of Electrical and Electronics Engineers Inc., pp. 1308-1315. https://doi.org/10.1109/CIT/IUCC/DASC/PICOM.2015.194

COVER: A Cooperative Virtual Force Robot Deployment technique. / Sallam, Gamal; Baroudi, Uthman.
Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015. ed. / Luigi Atzori; Xiaolong Jin; Stephen Jarvis; Lei Liu; Ramon Aguero Calvo; Jia Hu; Geyong Min; Nektarios Georgalas; Yulei Wu. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1308-1315 7363238 (Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Sallam, Gamal

AU - Baroudi, Uthman

PY - 2015/12/22

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N2 - We present a Cooperative Virtual Force Robot Deployment (COVER) technique. Virtual force (VF) technique appears as one of the prominent approaches to perform multirobot deployment autonomously. However, most of the existing VF based approaches lack purposeful deployment. Our approach modifies the original VF approach to overcome this problem and considers the mission requirements such as the number of required robots in each locality (e.g., landmarks are distributed and each needs a specific number of robots in its vicinity). In addition, COVER expedites the deployment process by establishing a cooperative relation between robots and neighboring landmarks. Extensive simulation experiments have been carried out to assess the performance of COVER along with Hungarian deployment method (a centralized approach), the basic virtual force (BVF) and other recent proposed variations. The simulation results demonstrate the effectiveness of COVER for several performance factors such as total travelled distance, total exchanged messages and total deployment time.

AB - We present a Cooperative Virtual Force Robot Deployment (COVER) technique. Virtual force (VF) technique appears as one of the prominent approaches to perform multirobot deployment autonomously. However, most of the existing VF based approaches lack purposeful deployment. Our approach modifies the original VF approach to overcome this problem and considers the mission requirements such as the number of required robots in each locality (e.g., landmarks are distributed and each needs a specific number of robots in its vicinity). In addition, COVER expedites the deployment process by establishing a cooperative relation between robots and neighboring landmarks. Extensive simulation experiments have been carried out to assess the performance of COVER along with Hungarian deployment method (a centralized approach), the basic virtual force (BVF) and other recent proposed variations. The simulation results demonstrate the effectiveness of COVER for several performance factors such as total travelled distance, total exchanged messages and total deployment time.

KW - Cooperative deployment

KW - Dynamic coverage

KW - Multi-robot deployment

KW - Robots

KW - Virtual Force

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DO - 10.1109/CIT/IUCC/DASC/PICOM.2015.194

M3 - Conference contribution

AN - SCOPUS:84964257942

T3 - Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015

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BT - Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015

A2 - Atzori, Luigi

A2 - Jin, Xiaolong

A2 - Jarvis, Stephen

A2 - Liu, Lei

A2 - Calvo, Ramon Aguero

A2 - Hu, Jia

A2 - Min, Geyong

A2 - Georgalas, Nektarios

A2 - Wu, Yulei

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Sallam G, Baroudi U. COVER: A Cooperative Virtual Force Robot Deployment technique. In Atzori L, Jin X, Jarvis S, Liu L, Calvo RA, Hu J, Min G, Georgalas N, Wu Y, editors, Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1308-1315. 7363238. (Proceedings - 15th IEEE International Conference on Computer and Information Technology, CIT 2015, 14th IEEE International Conference on Ubiquitous Computing and Communications, IUCC 2015, 13th IEEE International Conference on Dependable, Autonomic and Secure Computing, DASC 2015 and 13th IEEE International Conference on Pervasive Intelligence and Computing, PICom 2015). doi: 10.1109/CIT/IUCC/DASC/PICOM.2015.194

COVER: A Cooperative Virtual Force Robot Deployment technique

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this