Jorge Cortés

Professor





Coordinated rendezvous for visually-guided agents in a nonconvex polygon
A. Ganguli, J. Cortés, F. Bullo
Proceedings of the 44th IEEE Int. Conf. Decision and Control, Seville, Spain, 2005, pp. 5686-5691


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.

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Mechanical and Aerospace Engineering, University of California, San Diego
9500 Gilman Dr, La Jolla, California, 92093-0411

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cortes at ucsd.edu
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