Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms

Craig L. Robinson; Daniel Block; Sean Brennan; Francesco Bullo; Jorge Cortés

doi:10.1109/robot.2004.1307517

Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms

Craig L. Robinson, Daniel Block, Sean Brennan, Francesco Bullo, Jorge Cortés

Research output: Contribution to journal › Conference article › peer-review

2 Scopus citations

Abstract

This paper investigates the behavior of a group of autonomous robots evolving in a polygonal environment according to a "move away from the closest neighbor" heuristic. We demonstrate that this distributed coordination algorithm optimizes an aggregate cost function that measures how uniformly distributed are the robots in their environment. Our technical approach based on non-smooth analysis and computational geometry unveils a sphere-packing problem. The algorithm is implemented in a testbed of indoor mobile robots equipped with sonar. We develop novel approaches for improving single point sonar scan performance. These algorithms are then shown to have improved reliability, resolution and speed in distributed environments as compared to other scanning methods.

Original language	English (US)
Pages (from-to)	3000-3005
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	3
DOIs	https://doi.org/10.1109/robot.2004.1307517
State	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004

All Science Journal Classification (ASJC) codes

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

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10.1109/robot.2004.1307517

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title = "Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms",

abstract = "This paper investigates the behavior of a group of autonomous robots evolving in a polygonal environment according to a {"}move away from the closest neighbor{"} heuristic. We demonstrate that this distributed coordination algorithm optimizes an aggregate cost function that measures how uniformly distributed are the robots in their environment. Our technical approach based on non-smooth analysis and computational geometry unveils a sphere-packing problem. The algorithm is implemented in a testbed of indoor mobile robots equipped with sonar. We develop novel approaches for improving single point sonar scan performance. These algorithms are then shown to have improved reliability, resolution and speed in distributed environments as compared to other scanning methods.",

author = "Robinson, {Craig L.} and Daniel Block and Sean Brennan and Francesco Bullo and Jorge Cort{\'e}s",

year = "2004",

doi = "10.1109/robot.2004.1307517",

language = "English (US)",

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pages = "3000--3005",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "3",

note = "Proceedings- 2004 IEEE International Conference on Robotics and Automation ; Conference date: 26-04-2004 Through 01-05-2004",

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TY - JOUR

T1 - Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms

AU - Robinson, Craig L.

AU - Block, Daniel

AU - Brennan, Sean

AU - Bullo, Francesco

AU - Cortés, Jorge

PY - 2004

Y1 - 2004

N2 - This paper investigates the behavior of a group of autonomous robots evolving in a polygonal environment according to a "move away from the closest neighbor" heuristic. We demonstrate that this distributed coordination algorithm optimizes an aggregate cost function that measures how uniformly distributed are the robots in their environment. Our technical approach based on non-smooth analysis and computational geometry unveils a sphere-packing problem. The algorithm is implemented in a testbed of indoor mobile robots equipped with sonar. We develop novel approaches for improving single point sonar scan performance. These algorithms are then shown to have improved reliability, resolution and speed in distributed environments as compared to other scanning methods.

AB - This paper investigates the behavior of a group of autonomous robots evolving in a polygonal environment according to a "move away from the closest neighbor" heuristic. We demonstrate that this distributed coordination algorithm optimizes an aggregate cost function that measures how uniformly distributed are the robots in their environment. Our technical approach based on non-smooth analysis and computational geometry unveils a sphere-packing problem. The algorithm is implemented in a testbed of indoor mobile robots equipped with sonar. We develop novel approaches for improving single point sonar scan performance. These algorithms are then shown to have improved reliability, resolution and speed in distributed environments as compared to other scanning methods.

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DO - 10.1109/robot.2004.1307517

M3 - Conference article

AN - SCOPUS:3042534642

SN - 1050-4729

VL - 2004

SP - 3000

EP - 3005

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

IS - 3

T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation

Y2 - 26 April 2004 through 1 May 2004

ER -

Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms

Abstract

All Science Journal Classification (ASJC) codes

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