Motion Coordination for Mobile Robotic Networks With Visibility Sensors

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.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Ganguli, Anurag

Contributors dc:contributor

• Francesco Bullo

• Engineering, Robotics

Language dc:language

eng

Identifier

(MiAaPQ)AAI3301134

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/81056