NDLI: Multirobot Rendezvous With Visibility Sensors in Nonconvex Environments

Content Provider	IEEE Xplore Digital Library
Author	Ganguli, A. Cortes, J. Bullo, F.
Copyright Year	2004
Abstract	This paper presents a coordination algorithm for mobile autonomous robots. Relying on distributed sensing, the robots achieve rendezvous, i.e., they move to a common location. Each robot is a point mass moving in a simply connected, nonconvex, unknown environment according to an omnidirectional kinematic model. It is equipped with line-of-sight limited-range sensors, i.e., it can measure the relative position of any object (robots or environment boundary) if and only if the object is within a given distance and there are no obstacles in between. The perimeter minimizing algorithm is designed using the notions of robust visibility, connectivity-preserving constraint sets, and proximity graphs. The algorithm provably achieves rendezvous if the interagent sensing graph is connected at any time during the evolution of the group. Simulations illustrate the theoretical results and the performance of the proposed algorithm in asynchronous setups and with measurement errors, control errors, and nonzero robot size. Simulations to illustrate the importance of visibility constraints and comparisons with the optimal centralized algorithm are also included.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	340
Ending Page	352
Page Count	13
File Size	700049
File Format	PDF
ISSN	15523098
Volume Number	25
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Robot kinematics Control systems Algorithm design and analysis Robustness Distributed control Nonlinear control systems Mobile robots Position measurement Measurement errors visibility Cooperative control distributed algorithm multirobot coordination nonlinear systems and control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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