Vundurthy Parvathiswara Bhaskar (EE13D023)
Ph.D. Research Scholar of the Electrical Engineering Department will give a seminar on the topic
Rendezvous of Mobile Robots Amidst Obstacles Minimizing Sum of Travel Distances
On Thursday, November 22, 2018 at 3:00 PM in ESB 244
We consider rendezvous of a set of mobile robots in the presence of obstacles when constraints are imposed on the total distance of travel. We assume that each robot knows the initial location of all the others and address the following problem: determine the smallest (total) Euclidean distance the robots should travel before they meet. This problem is of interest in many applications and presents a significant challenge when there are two or more robots moving amidst obstacles. We first present an efficient algorithm for rendezvous of two robots based on the notion of visibility. We then introduce the concept of Fermat point for solving the rendezvous problem for three or more robots. We point to the difficulty in the calculation of the Fermat point when there are obstacles. We then show that the space for search of the Fermat point can be limited to the convex hull formed by the obstacles and the locations of the three robots. We further show that it is adequate to consider a small number of triangles to calculate the rendezvous location when there is one rectangular obstacle. We extend the results to the case of n rectangular obstacles and develop direct and efficient algorithms. Experimental results using mobile robots (locally fabricated) in an indoor environment are then presented.