Placement control of mobile robots based on position state and environmental map information

Remote operation of mobile robots for rescue purpose requires wireless network to expand the exploring area. However,the communication infrastructure cannot always be used in disster fields. Thus the self-organized network need to be constructed which requires multi-hop relayed ad-hoc network. For the stable wireless communication, It´s desirable to equalize the state of communication among every node. This Paper proposes a placement method which aims at the optimum deployment of multi-relay robots. Acting the virtual forces based on the state of communication, location of each robots and environmental map information to the robots to equalize the state of communication. Details of the method and simulation results are shown. Experimental results which are conducted with real mobile robots are also shown.