Cooperative localization and tracking of time-dependent sources Conference Paper uri icon

abstract

  • In this paper, decentralized, distributed control laws are investigated for cooperative robotic systems whose task is to localize and track the source of an unknown time-varying field. Special attention is focused on what properties must be true to allow successful localization, tracking, and estimation of the source. The control laws are determined from a second-order model of the time-varying field. The closed loop stability properties for the individual robots and the entire robot collective are demonstrated using Lyapunov's direct method and a vector Lyapunov approach.

published proceedings

  • Conference on Robotics and Remote Systems- Proceedings

author list (cited authors)

  • Hurtado, J. E., & Robinett, R. D.

complete list of authors

  • Hurtado, JE||Robinett, RD

publication date

  • July 2004