This paper presents a control scheme for localizing and encircling a target using a multi-robot system. The task is achieved in a distributed way, in that each robot only uses local information gathered by on-board relative-position sensors assumed to be noisy, anisotropic, and unable to detect the identity of the measured object. Communication between the robots is provided by limited-range transceivers. Experimental results with stationary and moving targets support the theoretical analysis.
Distributed target localization and encirclement with a multi-robot system / A., Franchi; P., Stegagno; M., Di Rocco; Oriolo, Giuseppe. - 7:PART 1(2010), pp. 151-156. (Intervento presentato al convegno 7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2010 tenutosi a Lecce nel 6 September 2010 through 8 September 2010) [10.3182/20100906-3-it-2019.00028].
Distributed target localization and encirclement with a multi-robot system
A. Franchi;ORIOLO, Giuseppe
2010
Abstract
This paper presents a control scheme for localizing and encircling a target using a multi-robot system. The task is achieved in a distributed way, in that each robot only uses local information gathered by on-board relative-position sensors assumed to be noisy, anisotropic, and unable to detect the identity of the measured object. Communication between the robots is provided by limited-range transceivers. Experimental results with stationary and moving targets support the theoretical analysis.| File | Dimensione | Formato | |
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