Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
Practical rendezvous through modified Circumcenter Algorithms
Sonia MartÃnez
Proceedings of the 46th IEEE Int. Conf. on Decision and Control, New Orleans, USA, December 2007
Abstract:
We present modified nonlinear Circumcenter Algorithms to achieve "practical" rendezvous when agents take noisy measurements of their neighbors' positions. Assuming a uniform probability distribution of the noise in a disk about the true position, we analyze the algorithms in 1D. In particular, we provide a characterization of the practical stability ball via deterministic and stochastic analysis tools. The higher dimensional cases are discussed in simulation and we propose modified Parallel Circumcenter Algorithms that can be used with guaranteed performance.
File: main.pdf
Bib-tex entry:
@InProceedings{SM:07-cdc,
author = {S. Mart{\'\i}nez},
booktitle = {46th IEEE International Conference on Decision and Control},
title = {Practical rendezvous through modified circumcenter algorithms},
year = {2007},
address = {New Orleans, Lousiana}
}