Rendezvous with bearing-only information and limited sensing range

Maximilian Kriegleder; Sundara Tejaswi Digumarti; Raymond Oung; Raffaello D'Andrea

ICRA 2015poster10 citations

Rendezvous with bearing-only information and limited sensing range

Maximilian Kriegleder, Sundara Tejaswi Digumarti, Raymond Oung, Raffaello D'Andrea

Abstract

This paper proposes a generalized algorithm that enables mobile agents to meet in a bounded region based only on bearing information of other agents within their vicinity. Each agent repeatedly employs a stop-and-go strategy consisting of the following three actions: (1) Estimate the bearing of agents in its vicinity, (2) compute a target point based on the estimates, and (3) move to that target point. The motivation and case study example is a modular robot, the Distributed Flight Array, which we employ to validate the proposed algorithm.

BibTeX

@inproceedings{icra2015_rendezvouswithbe,
  title = {Rendezvous with bearing-only information and limited sensing range},
  author = {Maximilian Kriegleder and Sundara Tejaswi Digumarti and Raymond Oung and Raffaello D'Andrea},
  booktitle = {ICRA 2015},
  year = {2015}
}