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  4. Real-time Optimization of Trajectories that Guarantee the Rendezvous of Mobile Robots
 
conference paper

Real-time Optimization of Trajectories that Guarantee the Rendezvous of Mobile Robots

Gowal, Sven  
•
Martinoli, Alcherio  
2012
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Since the 1960s, consensus problems have puzzled the minds of many researchers in fields ranging from computer science to information aggregation. In this work, although specifically addressing the rendezvous problem for a team of robots, we develop a methodology that can also be applied to other consensus problems, where optimality is important and where non-holonomicity characterizes the system at hand. In particular, we consider a group of differential-wheeled robots endowed with noisy relative positioning capabilities. We develop a distributed, real-time optimization method based on a receding horizon controller that minimizes a user-defined cost whilst guaranteeing the rendezvous. Finally, we perform experiments on real robots to confirm the validity of our approach.

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Type
conference paper
DOI
10.1109/IROS.2012.6385636
Author(s)
Gowal, Sven  
Martinoli, Alcherio  
Date Issued

2012

Published in
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Start page

3518

End page

3525

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
DISAL  
Event nameEvent placeEvent date
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Vilamoura, Algarve, Portugal

October 7-12, 2012

Available on Infoscience
October 10, 2012
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/86038
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