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Rendezvous of Heterogeneous Robots in Minimum Time

February 26 @ 3:00 pm - 4:00 pm

M.S Seminar

Name : Kulkarni Onkar Vishram (EE16S072)

Topic : Rendezvous of Heterogeneous Robots in Minimum Time

Date, Time and Venue :  Wednesday, February 26, 2020 at 3:00 PM in ESB 234

Guide : Dr. Sridharan

Abstract :

We study the problem of multiple, physically-separated mobile robots meeting at a point. This task, termed as rendezvous, is investigated when the mobile robots have unequal speeds. An algorithm for computing the minimum time rendezvous point (denoted by P) for a pair of robots moving amidst polygonal obstacles is presented. The algorithm is based on the notion of visibility graph and computes P exactly. Comparisons with an alternate approach based on level sets are given. An extension to rendezvous of three robots (in minimum time), based on the notion of Apollonius circles is also presented. We present an experimental setup consisting of multiple mobile robots, fabricated in-house. We also discuss experiments with the robots.

All are cordially invited

Details

Date:
February 26
Time:
3:00 pm - 4:00 pm
Event Category:

Venue

ESB 234
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