Jorge Cortés


Visibility-based distributed deployment of robotic teams in polyhedral terrains
A. Ma, J. Cortés
Proceedings of the ASME Dynamic Systems and Control Conference, Minneapolis, Minnesota, 2016, DSCC2016-9820


This paper presents deployment strategies for a team of multiple mobile robots with line-of-sight visibility in 1.5D and 2.5D terrain environments. Our objective is to distributively achieve full visibility of a polyhedral environment. In the 1.5D polyhedral terrain, we achieve this by determining a set of locations that the robots can distributively occupy. In the 2.5D polyhedral terrain, we achieve full visibility by simultaneously exploring, coloring, and guarding the environment


Mechanical and Aerospace Engineering, University of California, San Diego
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