TY - GEN
T1 - Controlling wild mobile robots using virtual gates and discrete transitions
AU - Bobadilla, Leonardo
AU - Martinez, Fredy
AU - Gobst, Eric
AU - Gossman, Katrina
AU - Lavalle, Steven M.
PY - 2012
Y1 - 2012
N2 - We present an approach to controlling multiple mobile robots without requiring system identification, geometric map building, localization, or state estimation. Instead, we purposely design them to execute wild motions, which means each will strike every open set infinitely often along the boundary of any connected region in which it is placed. We then divide the environment into a discrete set of regions, with borders delineated with simple markers, such as colored tape. Using simple sensor feedback, we show that complex tasks can be solved, such as patrolling, disentanglement, and basic navigation. The method is implemented in simulation and on real robots, which for many tasks are fully distributed without any mutual communication.
AB - We present an approach to controlling multiple mobile robots without requiring system identification, geometric map building, localization, or state estimation. Instead, we purposely design them to execute wild motions, which means each will strike every open set infinitely often along the boundary of any connected region in which it is placed. We then divide the environment into a discrete set of regions, with borders delineated with simple markers, such as colored tape. Using simple sensor feedback, we show that complex tasks can be solved, such as patrolling, disentanglement, and basic navigation. The method is implemented in simulation and on real robots, which for many tasks are fully distributed without any mutual communication.
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U2 - 10.1109/acc.2012.6315569
DO - 10.1109/acc.2012.6315569
M3 - Conference contribution
AN - SCOPUS:84869453193
SN - 9781457710957
T3 - Proceedings of the American Control Conference
SP - 743
EP - 749
BT - 2012 American Control Conference, ACC 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 American Control Conference, ACC 2012
Y2 - 27 June 2012 through 29 June 2012
ER -