NDLI: Spatial partitioning for distributed agents driven by a line-of-sight navigation law in a spatiotemporal drift field

Content Provider	IEEE Xplore Digital Library
Author	Bakolas, E.
Copyright Year	2013
Description	Author affiliation: Dept. of Aerosp. Eng., Univ. of Texas at Austin, Austin, TX, USA (Bakolas, E.)
Abstract	We consider the problem of characterizing a Voronoi-like partition of a two-dimensional Euclidean space which encodes information about the proximity relations between a team of spatially distributed aerial/marine vehicles and arbitrary points in the plane. In particular, a point in the plane is assigned to a particular vehicle if the latter can reach this point faster than any other vehicle from the same team. It is assumed that each vehicle is constrained to travel along the line-of-sight direction to its destination point in the presence of a spatiotemporal drift field, which is induced by, say, local winds/currents. We present an efficient scheme for the computation of the Voronoi-like partition which exploits the direct correspondence between the level sets of the Euclidean distance and those of the time-to-go by means of a bijective mapping. Next, we identify a number of important topological properties enjoyed by the generators and the cells of the partition. Finally, we present simulation results using data from real drift fields.
Starting Page	2509
Ending Page	2514
File Size	296681
Page Count	6
File Format	PDF
ISBN	9781479901777
ISSN	07431619
e-ISBN	9781479901784
DOI	10.1109/ACC.2013.6580211
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Vehicles Navigation Generators Level set Vectors Measurement Equations
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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