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Experimental validation of an algorithm for cooperative boundary tracking

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7 Author(s)
Hsieh, C.H. ; Dept. of Electr. Eng., California Univ., Los Angeles, CA, USA ; Zhipu Jin ; Marthaler, D. ; Nguyen, B.Q.
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This paper demonstrates the test bed implementation of a simple algorithm for cooperatively locating and following environmental boundary in two-dimensional space. The algorithm alternates between clockwise and counterclockwise motion along circular paths. By switching the orientation of rotation upon crossing the boundary, a vehicle is able to continue along its search. Coordination is achieved by changing vehicle speeds depending on the location of other vehicles.

Published in:

American Control Conference, 2005. Proceedings of the 2005

Date of Conference:

8-10 June 2005

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