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Title:Motion Coordination for Mobile Robotic Networks With Visibility Sensors
Author(s):Ganguli, Anurag
Doctoral Committee Chair(s):Francesco Bullo
Department / Program:Electrical and Computer Engineering
Discipline:Electrical and Computer Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Engineering, Robotics
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.
Issue Date:2007
Description:159 p.
Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2007.
Other Identifier(s):(MiAaPQ)AAI3301134
Date Available in IDEALS:2015-09-25
Date Deposited:2007

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