Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

April 2007


Copyright 2007 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, ICRA '07, April 2007, pages 2312-2317.

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We develop decentralized controllers for a team of disk-shaped robots to converge to and circulate along the boundary of a desired two-dimensional geometric pattern specified by a smooth function with collision avoidance. The proposed feedback controllers rely solely on each robot's range and bearing sensors which allow them to obtain information about positions of neighbors within a given range. This is relevant for applications such as perimeter surveillance or containing hazardous regions where limited bandwidth must be preserved for situational awareness. The computational complexity of the decentralized controller for each agent is linear in the number of neighboring agents, making it scalable to robot swarms. We establish stability and convergence properties of the controllers and verify the feasibility of the method through computer simulations.



Date Posted: 22 January 2008

This document has been peer reviewed.