Jorge Cortés

Professor





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This paper studies a deployment problem for a group of robots where individual agents operate with outdated information about each other's locations. Our objective is to understand to what extent outdated information is still useful and at which point it becomes essential to obtain new, up-to-date information.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

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cortes at ucsd.edu
Skype id: jorgilliyo