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
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;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1583069
