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Visibility-Based Distributed Deployment of Robotic Teams in Polyhedral Terrains

[+] Author Affiliations
Aaron Ma, Jorge Cortés

University of California, San Diego, CA

Paper No. DSCC2016-9820, pp. V002T23A007; 10 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME


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.

Copyright © 2016 by ASME
Topics: Robotics , Teams



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