提交: 591674b21b05a8187174f5fe6e53bcdd5605a199 - myprojects-hg-reborn (hg)

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• 修訂: 591674b21b05a8187174f5fe6e53bcdd5605a199 (tree)
• 時間: 2008-10-17 08:15:18
• 作者: iselllo
• Commiter: iselllo

Log Message

I modified a bit the introduction to the salt crystal and accepted the modifications by Carlo.

Change Summary

• modified: latex-documents/gridformation-cec2009.tex

差異

diff -r 09b492c10b2a -r 591674b21b05 latex-documents/gridformation-cec2009.tex
--- a/latex-documents/gridformation-cec2009.tex	Thu Oct 16 13:41:24 2008 +0000
+++ b/latex-documents/gridformation-cec2009.tex	Thu Oct 16 23:15:18 2008 +0000
@@ -18,7 +18,7 @@
 
 \hypersetup{
   pdfauthor = {Carlo Pinciroli},
-  pdftitle = {Scalable Grid Formation for Mobile Robots with Minimal Assumptions},
+  pdftitle = {Self-Organizing Grid Formation for Mobile Robots with Minimal Assumptions},
   pdfsubject = {},
   pdfkeywords = {}
 }
@@ -26,11 +26,11 @@
 \begin{document}
 
 \title{%
-  \LARGE\bf Scalable Grid Formation for Mobile Robots\\with Minimal Assumptions
+  \LARGE\bf Self-Organizing Grid Formation for Mobile Robots\\with Minimal Assumptions
   \thanks{C.~Pinciroli and M.~Dorigo are with IRIDIA, CoDE,
     Universit\'e  Libre de Bruxelles, Brussels, Belgium. C.~Ampatzis
     is with the European Space Agency, Noordwijk, The
-    Netherlands. L.~Isella is with$\ldots$}}
+    Netherlands. L.~Isella is with the Joint Research Centre, Ispra, Italy.}}
 \author{Carlo Pinciroli, Christos Ampatzis, Lorenzo Isella, Marco Dorigo}
 
 \maketitle
@@ -66,13 +66,45 @@
 
 \section{Color-Based Grid Formation}
 \label{sec:method}
+The method proposed in this paper is inspired by salt crystal structure.
+ The salt unit cell  exhibits a cubic symmetry, where  each
+ positive (negative)
+ion, Na$^+$ (Cl$^-$), is surrounded by six negative (positive)
+ions.
+The NaCl crystal is held together by the electrostatic interaction
+between the opposite-charged ions. The magnitude of the pair-wise force acting between
+any two ions is given by Coulomb law 
+$$
+|F_{\rm ion-to-ion}| \sim r^{-2},
+$$
+where $r$ is the ion-to-ion distance. In
+particular, the force is repulsive for ions having the same charge and
+attractive otherwise, hence ions of the same kind are kept as far
+from each other as possible in the NaCl unit cell. 
+
+
 Two main ingredients: colors and color interaction rules.
-
+\begin{itemize}
+\item How does it generalise? Is the interaction between the robots
+  tunable? What does it aim at? Do we carry out some new simulations
+  or do we sell the method by validating it against something already
+  known? Is validation against some known results in literature
+  possible?
+\item Is the interaction between the robots pair-wise, hence the
+total ``force'' acting on a robot is the sum of all the interactions
+between the given robot and all the other robots in the ensemble?
+I think that an equation/formula quantitatively explaining this may be
+necessary.
+\end{itemize}
 \section{Experimental Evaluation}
 \label{sec:experiments}
 The experiments to assess the quality of the system. Scalability,
 precision, convergence.
 
+Do we have experiments here? Performed in your lab and with a
+significant number of interaction robots?
+
+
 \section{Conclusions and Future Work}
 \label{sec:conclusions}
 Final words about this paper.
@@ -83,7 +115,7 @@
 (IST-FET) of the European Commission (grant IST-022888). Marco Dorigo
 acknowledges support from the F.R.S-FNRS of the French Community of
 Belgium of which he is Research Director. Christos Ampatzis
-acknowledges$\dots$ Lorenzo Isella acknowledges$\dots$
+acknowledges$\dots$.
 
 \bibliographystyle{IEEEtran}