Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms
C. Robinson, D. Block, S. Brennan, F. Bullo, J. Cortés
Proceedings of the 2004 IEEE Conf. Robotics and Automation, New Orleans, Louisiana, USA, 2004, pp. 3000-3005
Abstract
This paper investigates the behavior of a group of autonomous robots
evolving in a polygonal environment according to a ``move away from
the closest neighbor'' heuristic. We demonstrate that this distributed
coordination algorithm optimizes an aggregate cost function that
measures how uniformly distributed are the robots in their
environment. Our technical approach based on non-smooth analysis and
computational geometry unveils a sphere-packing problem. The
algorithm is implemented in a testbed of indoor mobile robots equipped
with sonar. We develop novel approaches for improving single point
sonar scan performance. These algorithms are then shown to have
improved reliability, resolution and speed in distributed environments
as compared to other scanning methods.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo