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CDC
2010
IEEE
152views Control Systems» more  CDC 2010»
12 years 10 months ago
Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance
Abstract-- We propose an algorithm for decentralised navigation of multiple independent agents, applicable to Robotics and Air Traffic Control (ATC). We present completely decentra...
Giannis P. Roussos, Kostas J. Kyriakopoulos
ICRA
2003
IEEE
91views Robotics» more  ICRA 2003»
13 years 9 months ago
Visual registration and navigation using planar features
— This paper addresses the problem of registering the hexapedal robot, RHex, relative to a known set of beacons, by real-time visual servoing. A suitably constructed navigation f...
Gabriel A. D. Lopes, Daniel E. Koditschek
ICRA
2003
IEEE
129views Robotics» more  ICRA 2003»
13 years 9 months ago
Closed loop navigation for multiple non -holonomic vehicles
In this paper we incorporate dipolar potential fields used for nonholonomic navigation into a novel potential function designed for multi – robot navigation. The derived naviga...
Savvas G. Loizou, Kostas J. Kyriakopoulos
ICRA
2005
IEEE
134views Robotics» more  ICRA 2005»
13 years 9 months ago
Towards Decentralization of Multi-robot Navigation Functions
—We present a navigation function through which a group of mobile agents can be coordinated to achieve a particular formation, both in terms of shape and orientation, while avoid...
Herbert G. Tanner, Amit Kumar
ICRA
2007
IEEE
134views Robotics» more  ICRA 2007»
13 years 10 months ago
Locally Computable Navigation Functions for Sphere Worlds
Abstract— In this paper we present a new Navigation Function for a sphere world that can be computed locally with limited knowledge of the environment. By requiring smooth and no...
Grigoris Lionis, Xanthi Papageorgiou, Kostas J. Ky...
ICRA
2008
IEEE
104views Robotics» more  ICRA 2008»
13 years 10 months ago
Towards locally computable polynomial navigation functions for convex obstacle workspaces
— In this paper we present a polynomial Navigation Function (NF) for a sphere world that can be constructed almost locally, with partial knowledge of the environment. The present...
Grigoris Lionis, Xanthi Papageorgiou, Kostas J. Ky...