Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Self-triggered coordination of robotic networks for
optimal deployment
C. Nowzari, J. Cortés
Automatica 48 (6) (2012), 1077-1087
Abstract
This paper studies a deployment problem for a group of
robots where individual agents operate with outdated
information about each other's locations. Our objective
is to understand to what extent outdated information is
still useful and at which point it becomes essential to
obtain new, up-to-date information. We propose a
self-triggered coordination algorithm based on spatial
partitioning techniques with uncertain information. We
analyze its correctness in synchronous and asynchronous
scenarios, and establish the same convergence guarantees
that a synchronous algorithm with perfect information at
all times would achieve. The technical approach combines
computational geometry, set-valued stability analysis,
and event-based systems.
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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