Motion Coordination for Mobile Robotic Networks With Visibility Sensors
Ganguli, Anurag
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Permalink
https://hdl.handle.net/2142/81056
Description
Title
Motion Coordination for Mobile Robotic Networks With Visibility Sensors
Author(s)
Ganguli, Anurag
Issue Date
2007
Doctoral Committee Chair(s)
Francesco Bullo
Department of Study
Electrical and Computer Engineering
Discipline
Electrical and Computer Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Robotics
Language
eng
Abstract
Third, we address problem (ii) by proposing a novel motion coordination algorithm for a group of robotic agents to achieve rendezvous, that is, to move to a common location inside a nonconvex environment. The robots move synchronously in discrete time, they have a range-limited visibility sensor, and no communication ability is required. The algorithm is designed using the notions of robust visibility, connectivity-preserving constraint sets, and proximity graphs. We rigorously establish the correctness of the algorithm and we illustrate through simulations the algorithm's performance in asynchronous setups with sensor measurement and control errors.
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