Rendezvous of wheeled mobile robots using bearings-only or range-only measurements

Ronghao Zheng; Dong Sun

doi:10.1109/ROBIO.2013.6739468

Rendezvous of wheeled mobile robots using bearings-only or range-only measurements

Ronghao Zheng
, Dong Sun

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

3 Citations (Scopus)

Abstract

In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems. © 2013 IEEE.

Original language	English
Title of host publication	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Publisher	IEEE Computer Society
Pages	256-261
DOIs	https://doi.org/10.1109/ROBIO.2013.6739468
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Place	China
City	Shenzhen
Period	12/12/13 → 14/12/13

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@inproceedings{2e9c37ebac13411dba8b6f8aa90d64e8,

title = "Rendezvous of wheeled mobile robots using bearings-only or range-only measurements",

abstract = "In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems. {\textcopyright} 2013 IEEE.",

author = "Ronghao Zheng and Dong Sun",

year = "2013",

doi = "10.1109/ROBIO.2013.6739468",

language = "English",

pages = "256--261",

booktitle = "2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013",

publisher = "IEEE Computer Society",

address = "United States",

note = "2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 ; Conference date: 12-12-2013 Through 14-12-2013",

}

Zheng, R & Sun, D 2013, Rendezvous of wheeled mobile robots using bearings-only or range-only measurements. in 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013., 6739468, IEEE Computer Society, pp. 256-261, 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China, 12/12/13. https://doi.org/10.1109/ROBIO.2013.6739468

Rendezvous of wheeled mobile robots using bearings-only or range-only measurements. / Zheng, Ronghao; Sun, Dong.
2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. IEEE Computer Society, 2013. p. 256-261 6739468.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Rendezvous of wheeled mobile robots using bearings-only or range-only measurements

AU - Zheng, Ronghao

AU - Sun, Dong

PY - 2013

Y1 - 2013

N2 - In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems. © 2013 IEEE.

AB - In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems. © 2013 IEEE.

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U2 - 10.1109/ROBIO.2013.6739468

DO - 10.1109/ROBIO.2013.6739468

M3 - RGC 32 - Refereed conference paper (with host publication)

SP - 256

EP - 261

BT - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

PB - IEEE Computer Society

T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

Rendezvous of wheeled mobile robots using bearings-only or range-only measurements

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