DocumentCode
3122419
Title
On rendezvous for visually-guided agents in a nonconvex polygon
Author
Ganguli, Anurag ; Cortés, Jorge ; Bullo, Francesco
Author_Institution
Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, and with the Department of Mechanical and Environmental Engineering, University of California at Santa Barbara, Santa Barbara, CA 93106, USA, aganguli@uiuc.edu
fYear
2005
fDate
12-15 Dec. 2005
Firstpage
5686
Lastpage
5691
Abstract
This paper presents coordination algorithms for mobile autonomous agents equipped with line-of-sight sensors in a nonconvex polygon. The objective of the proposed algorithms is to achieve rendezvous, that is, agreement over the location of the agents in the network, using only information from the line-of-sight sensors. Two key novel components of the algorithms are the notions of locally-cliqueless visibility graph and of convex continuous constraint set.
Keywords
Algorithm design and analysis; Autonomous agents; Feedback; Intelligent networks; Mobile robots; Robot kinematics; Robot sensing systems; Robot vision systems; Sensor systems; Surges;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN
0-7803-9567-0
Type
conf
DOI
10.1109/CDC.2005.1583069
Filename
1583069
Link To Document