Control for Localization and Visibility Maintenance of an Independent Agent using Robotic Teams

Publication Year:
2009
Usage 1227
Abstract Views 824
Downloads 403
Repository URL:
https://repository.upenn.edu/edissertations/70
Author(s):
Stump, Ethan A
Tags:
multirobot system; control for localization; visibility; deployment; target-tracking; Controls and Control Theory; Robotics
thesis / dissertation description
Given a non-cooperative agent, we seek to formulate a control strategy to enable a team of robots to localize and track the agent in a complex but known environment while maintaining a continuously optimized line-of-sight communication chain to a fixed base station. We focus on two aspects of the problem. First, we investigate the estimation of the agent's location by using nonlinear sensing modalities, in particular that of range-only sensing, and formulate a control strategy based on improving this estimation using one or more robots working to independently gather information. Second, we develop methods to plan and sequence robot deployments that will establish and maintain line-of-sight chains for communication between the independent agent and the fixed base station using a minimum number of robots. These methods will lead to feedback control laws that can realize this plan and ensure proper navigation and collision avoidance.