The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Distributed Target Localization and Encirclement with a Multi-robot System

Antonio Franchi
Università di Roma La Sapienza
Italy

Paolo Stegagno
Università di Roma La Sapienza
Italy

Maurizio Di Rocco
Università di Roma Tre
Italy

Giuseppe Oriolo
Università di Roma La Sapienza
Italy

Abstract:
This work presents an experimentally validated estimation/control system for localizing and encircling a target object with a multi-robot system. To accomplish their task, the robots must equalize their radius of revolution, their inter-distances and speeds. All these goals are achieved in a distributed way, using limited-range transceivers and relative-position sensors which are assumed noisy, anisotropic, and anonymous. The latter characteristic, which is distinctive of this work, means that the sensors do not provide the identity of the measured object. An extensive experimentation supports the theoretical analysis.

 

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