An algorithm for selecting a group leader in mobile robots realized by mobile ad hoc networks and object entropy

This paper(1) proposes a novel algorithm for mobile robots to select a group leader and to be guided in order to perform a specific work. The concepts of mobile ad hoc network (MANET) and object entropy are adopted to design the selection of a group leader. A logical robot group is created based on the exchange of request and reply messages in a robot communication group whose organization depends on a transmission range. A group leader is selected based on the transmission of confirmation message from a robot who initiates to make a logical robot group. The proposed algorithm has been verified based on the computer-based simulation. The performance metric such as the number of message in order to make a logical robot group and to select a group leader is defined and verified by using the computer-based simulation.