Moshtoagh, Nima
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Publication Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots(2009-08-01) Moshtagh, Nima; Michael, Nathan D; Jadbabaie, Ali; Daniilidis, KostasIn this paper, we study the problem of distributed motion coordination among a group of nonholonomic ground robots. We develop vision-based control laws for parallel and balanced circular formations using a consensus approach. The proposed control laws are distributed in the sense that they require information only from neighboring robots. Furthermore, the control laws are coordinate-free and do not rely on measurement or communication of heading information among neighbors but instead require measurements of bearing, optical flow, and time to collision, all of which can be measured using visual sensors. Collision-avoidance capabilities are added to the team members, and the effectiveness of the control laws are demonstrated on a group of mobile robots.Publication Bearing-Only Control Laws For Balanced Circular(2008-06-28) Moshtagh, Nima; Michael, Nathan; Jadbabaie, Ali; Daniilidis, KostasFor a group of constant-speed ground robots, a simple control law is designed to stabilize the motion of the group into a balanced circular formation using a consensus approach. It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation. We consider two different scenarios that the connectivity graph of the system is either a complete graph or a ring. Collision avoidance capabilities are added to the team members and the effectiveness of the control laws are demonstrated on a group of mobile robots.Publication Distributed Geodesic Control Laws for Flocking of Nonholonomic Agents(2005-01-01) Moshtoagh, Nima; Jadbabaie, Ali; Daniilidis, KostasWe study the problem of flocking and coordination of a group of kinematic nonholonomic agents in 2 and 3 dimensions. By analyzing the velocity vectors of agents on a circle (for planar motion) or sphere (for 3D motion), we develop geodesic control laws that minimize a misalignment potential based on graph Laplacians resulting in velocity alignment. The proposed control laws are distributed and will provably result in flocking when the underlying proximity graph which represents the neighborhood relation among agents is connected. Furthermore, we develop a vision based control law that does not rely on heading measurements, but only requires measurement of bearing, optical flow and time-to-collision, all of which can be efficiently measured.