(Corporación Universitaria Lasallista, 2015-08-24) Acosta Gil, Andres Felipe; Acosta Amaya, Gustavo Alonso; Jiménez Builes, Jovani Alberto
Introduction. In this article, we address the problem
in which a Multi-robot System (MRS), conforming a
Mobile Ad-hoc Network (MANET), has to reach a
given goal while maintaining a connected topology
with a fixed Base Station (BS). Objective. To design
a connectivity control reactive algorithm for a MRS
in a goal seek mission. Materials and Methods.
Based in the work proposed in (Antonelli, Arrichiello,
Chiaverini, & Setola, 2006), an algorithm is proposed
that incorporates a Depth First Search (DSF) and
implements a set of behavior-based task functions.
Moreover, robots can take the role of explorers or
relays. Results. The algorithm is validated through
computer simulations in a scenario like the one found
in (Antonelli, Arrichiello, Chiaverini, & Setola, 2006),
but varying the position of the goal. Results show the
affectivity of the proposed algorithm. Conclusions.
Improvements included in the proposed algorithm
provide better flexibility and robustness by allowing
the robots to take different roles. Furthermore, the
MRS connectivity is maintained even if the goal is
farther than the distance it can reach.
