We consider the problem of rendezvous between a pair of mobile robots. The robots could be heterogeneous. We assume communication is limited to infrared beacons on each robot. No a priori knowledge of the positions of the robots is required. We present an algorithm for rendezvous of the robots in an environment that may contain one or more obstacles. We also address the issue of ambience when dealing with infrared beacons. Experiments with a mobile robot and a bipedal robot are presented to validate the efficacy of the proposed algorithm. © 2016 IEEE.

Krishnamurthy Sridharan

Department of Electrical Engineering

Algorithms

Infrared devices

Mobile robots

Bipedal robot

HETEROGENEOUS ROBOTS

INFRA RED BEACON

Limited communication

Priori knowledge

Rendezvous

Robots

IIT Madras is a public technical and research university located in Chennai, Tamil Nadu. Founded in 1959, it is recognised as an Institute of National Importance.

IIT Madras has been ranked as the top engineering institute in India for four years in a row by the National Institutional Ranking Framework of the MHRD

It currently offers undergraduate, postgraduate and research degrees across 16 disciplines in Engineering, Sciences, Humanities and Management. About 596 faculty belonging to science and engineering departments and centres of the Institute are engaged in teaching, research and industrial consultancy.

IIT Madras

Rendezvous of heterogeneous robots amidst obstacles with limited communication

2016 Indian Control Conference, ICC 2016 - Proceedings

Operations Research

Hide-and-Seek Games on a Network, Using Combinatorial Search Paths

Automatica

A leader-following rendezvous problem of double integrator multi-agent systems

Systems & Control Letters

Rendezvous of unicycles: A bearings-only and perimeter shortening approach

In this paper, we propose a control law to achieve a rendezvous of autonomous vehicles moving in three-dimensional (3D) space, using minimal data sensing and quantized control. A pre-assigned graph uniquely assigns the pursuer-target pair in a cyclic manner. A quantized control law has been proposed which allows the vehicle to pitch and yaw simultaneously in the required direction and track its target agent. The only measurement required for the proposed control law is the quadrant from which the target vehicle moves out of the field-of-view of the pursuing vehicle. A Lyapunov function is chosen to find a domain for the field-of-view which guarantees rendezvous under the proposed control law. Computer simulations are presented to demonstrate the control law. © 2012 Elsevier Ltd. All rights reserved.

Rendezvous in space with minimal sensing and coarse actuation

IEEE Transactions on Automatic Control

Rendezvous Without Coordinates

Journal	Data powered by Typeset2016 Indian Control Conference, ICC 2016 - Proceedings
Publisher	Data powered by TypesetInstitute of Electrical and Electronics Engineers Inc.
Open Access	No