{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/81056"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/81056","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Motion Coordination for Mobile Robotic Networks With Visibility Sensors","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.","abstract_html":"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&#x27;s performance in asynchronous setups with sensor measurement and control errors.","abstract_has_math":false,"creators":["Ganguli, Anurag"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Electrical and Computer Engineering","degree_department":null,"school":null,"contributors":["Francesco Bullo"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-25T20:09:26Z","date_published":"2015-09-25T20:09:26Z","updated_at":"2026-07-22T22:26:15Z","subjects":["Engineering, Robotics"],"languages":["eng"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(MiAaPQ)AAI3301134"],"render_values":[{"text":"(MiAaPQ)AAI3301134","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/81056","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Francesco Bullo"]},{"key":"dc:creator","label":"Author","values":["Ganguli, Anurag"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-25T20:09:26Z","10000-01-01","2007"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical and Computer Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Robotics"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/81056","(MiAaPQ)AAI3301134"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["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.","Made available in DSpace on 2015-09-25T20:09:26Z (GMT). No. of bitstreams: 2 license.txt: 4848 bytes, checksum: 96035ab3f5e1c23cc7138a224ce498bd (MD5) 3301134.pdf: 5810544 bytes, checksum: 6e0f9505f2f1080247bcfc6394bedc49 (MD5) Previous issue date: 2007","Embargo set by: Seth Robbins for item 82338 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","159 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2007."]},{"key":"dc:title","label":"Title","values":["Motion Coordination for Mobile Robotic Networks With Visibility Sensors"]}]}],"canonical_facts":{"dc:contributor":["Francesco Bullo"],"dc:creator":["Ganguli, Anurag"],"dc:date":["2015-09-25T20:09:26Z","10000-01-01","2007"],"dc:description":["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.","Made available in DSpace on 2015-09-25T20:09:26Z (GMT). No. of bitstreams: 2 license.txt: 4848 bytes, checksum: 96035ab3f5e1c23cc7138a224ce498bd (MD5) 3301134.pdf: 5810544 bytes, checksum: 6e0f9505f2f1080247bcfc6394bedc49 (MD5) Previous issue date: 2007","Embargo set by: Seth Robbins for item 82338 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","159 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2007."],"dc:identifier":["http://hdl.handle.net/2142/81056","(MiAaPQ)AAI3301134"],"dc:language":["eng"],"dc:subject":["Engineering, Robotics"],"dc:title":["Motion Coordination for Mobile Robotic Networks With Visibility Sensors"],"dc:type":["text"],"thesis:degree_discipline":["Electrical and Computer Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:26:15Z"}