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Real-Time Optimized Rendezvous on Nonholonomic Resource-Constrained Robots

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 88))

Abstract

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.

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Authors and Affiliations

  1. Distributed Intelligent Systems and Algorithms Laboratory, School of Architecture, Civil and Environmental Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland

    Sven Gowal & Alcherio Martinoli

Authors
  1. Sven Gowal
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  2. Alcherio Martinoli
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Corresponding author

Correspondence to Sven Gowal .

Editor information

Editors and Affiliations

  1. (RAMS) Institute for Systems Research, Maryland Robotics Center, University of Maryland, Room 0160, Bldg 088, Glenn L. Martin Hall, College Park, 20742, Maryland, USA

    Jaydev P. Desai

  2. , Centre for Intelligent Machines, McGill University, Room 419, 3480 University Street, Montreal, H3A 2A7, Québec, Canada

    Gregory Dudek

  3. , Department of Computer Science, Stanford University, Stanford, 94305-9010, California, USA

    Oussama Khatib

  4. , School of Engineering & Applied Science, University of Pennsylvania, 107 Towne Building, 220 South 33rd Street, Philadelphia, 19104-6391, Pennsylvania, USA

    Vijay Kumar

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Gowal, S., Martinoli, A. (2013). Real-Time Optimized Rendezvous on Nonholonomic Resource-Constrained Robots. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_25

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  • DOI: https://doi.org/10.1007/978-3-319-00065-7_25

  • Publisher Name: Springer, Heidelberg

  • Print ISBN: 978-3-319-00064-0

  • Online ISBN: 978-3-319-00065-7

  • eBook Packages: EngineeringEngineering (R0)

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