Real-time Optimized Rendezvous on Nonholonomic Resource-Constrained Robots

In this work, we consider a group of differential-wheeled robots endowed with noisy relative positioning capabilities. We develop a decentralized approach based on a receding horizon controller to generate, in real-time, trajectories that guarantee the convergence of our robots to a common location (i.e. rendezvous). Our receding horizon controller is tailored around two numerical optimization methods: the hybrid-state A* and trust-region algorithms. To validate both methods and test their robustness to computational delays, we perform exhaustive experiments on a team of four real mobile robots equipped with relative positioning hardware.


Published in:
13th International Symposium on Experimental Robotics, 353-368
Presented at:
13th International Symposium on Experimental Robotics, Québec City, Canada, June 17-21, 2012
Year:
2013
Publisher:
Springer
Laboratories:




 Record created 2012-08-19, last modified 2018-09-13

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