Aggregation and localization of simple robots in curved environments

Rachel Moan, Victor Montano, Aaron Becker, Jason M. O'Kane
In Proc. IEEE International Conference on Robotics and Automation 2020.

Abstract

This paper is about the closely-related problems of localization and aggregation for extremely simple robots, for which the only available action is to move in a given direction as far as the geometry of the environment allows. Such problems may arise, for example, in biomedical applications, wherein a large group of tiny robots moves in response to a shared external stimulus. Specifically, we extend the prior work on these kinds of problems presenting two algorithms for localization in environments with curved (rather than polygonal) boundaries and under low-friction models of interaction with the environment boundaries. We present both simulations and physical demonstrations to validate the approach.

Download

@inproceedings{MoaMon+20,
  author       = {Rachel Moan and Victor Montano and Aaron Becker and Jason
		 M. O'Kane},
  title        = {Aggregation and localization of simple robots in curved
		 environments},
  booktitle    = {Proc. IEEE International Conference on Robotics and
		 Automation},
  year	       = {2020}
}

O'Kane's home page
O'Kane's publication list

Thu 02 Jul 2020 03:55:39 PM EDT