Heterogeneous multi-robot networks require novel tools for applications that require achieving and maintaining formations. This is the case for distributing sensing devices with heterogeneous mobile sensor networks. Here, we consider a heterogeneous multi-robot network of mobile robots. The robots have a limited range in which they can estimate the relative position of other network members. The network is also heterogeneous in that only a subset of robots have localization ability. We develop a method for automatically configuring the heterogeneous network to deploy a desired formation at a desired location. This method guarantees that network members without localization are deployed to the correct location in the environment for the sensor placement.

Novel tools are needed to deploy multi-agent networks in applications that require a high degree of accuracy in the achievement and maintenance of geometric formations. This is the case when deploying distributed sensing devices across large spatial domains. Through so-called embedded graph grammars (EGGs), this paper develops a method for automatically generating control programs that ensure that a multi-robot network is deployed according to the desired configuration. This paper presents a communication protocol needed for implementing and executing the control programs in an accurate and deadlock-free manner.

Quantum-dot Cellular Automata (QCA) is a novel computing mechanism that can represent binary information based on spatial distribution of electron charge configuration in chemical molecules. QCA layout is currently restricted to a single layer with very limited number of wire crossing permitted. Thus, wire crossing minimization is crucial in improving the manufacturability of QCA circuits. In this article, we present the first QCA channel routing algorithm for wire crossing minimization. Our channel routing algorithm is able to reduce crossings, where Left-Edge First, Yoshimura and Kuh, and topologically-based algorithms fail to do so.