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A Method for Solving the Problem of Map Connectivity Analysis when Mapping an Area by a Roboswarm with Communication

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Abstract

An algorithm for solving the problem of analysis of connectivity of a map compiled by the distributed information robot system is described. This task can be implemented by a flock (or a swarm, which is a flock without a leader) of flying reconnaissance robots, e.g., to assess if a group of ground robots provided with the obtained information can pass between obstacles. The map connectivity is analyzed based on a special renumbering of connectivity areas, which is used in data exchange between reconnaissance robots.

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Funding

This work was supported by the Russian Foundation for Basic Research, project nos. 16-08-00880-a, 16-01-00131-a, 15-07-07483-a, and 16-29-04412-ofi-m, and the Program of the Russian Academy of Sciences 1.31 and subsection Urgent Problems of Robotics.

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Correspondence to V. E. Pavlovsky or V. V. Pavlovsky.

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Translated by O. Pismenov

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Pavlovsky, V.E., Pavlovsky, V.V. A Method for Solving the Problem of Map Connectivity Analysis when Mapping an Area by a Roboswarm with Communication. Sci. Tech. Inf. Proc. 46, 416–421 (2019). https://doi.org/10.3103/S0147688219060078

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