By Topic

Scale-adaptive polygonal formations of submersible vehicles and tracking isocontours

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kalantar, S. ; Res. Sch. of Inf. Sci. & Eng., Australian Nat. Univ., Canberra, ACT ; Zimmer, U.R.

Building on the assumption that identification of a sufficient number of isoclines of an environmental field (such as the ocean bottom terrain) allows efficient reconstruction of the field, in this paper, a sequel to [1], we describe a system where a group of robots in a spacial arrangement (a regular polygon centred around a lead robot) locally construct the field (measured at the locations of the robots) inside the polygonal area using interpolation by barycentric coordinates. If the error of interpolation is small enough, the corresponding isocline of the interpolated field will match the real isocline accurately enough. Tracking this isocline in a certain direction will then allow robust traversal of field isoclines. We use the measurement at the centre of the formation to adjust the size of the polygon to obtain desired accuracy.

Published in:

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Date of Conference:

22-26 Sept. 2008