Control for Localization and Visibility Maintenance of an
Independent Agent using Robotic Teams

Ethan Stump
Advisor: Professor Vijay Kumar
Department of Mechanical Engineering and Applied Mechanics
University of Pennsylvania

Abstract

Given a non-cooperative agent, we seek to formulate a control strategy to enable a team of robots to localize and track the agent in a complex but known environment while maintaining a continuously optimized line-of-sight communication chain to a fixed base station. We focus on two aspects of the problem. First, we investigate the estimation of the agent's location by using nonlinear sensing modalities, in particular that of range-only sensing, and formulate a control strategy based on improving this estimation using one or more robots working to independently gather information. Second, we develop methods to plan and sequence robot deployments that will establish and maintain line-of-sight chains between the independent agent and the fixed base station. These methods will lead to feedback control laws that can realize this plan and ensure proper navigation and collision avoidance.

Friday, August 7
337 Towne Building
11:00 a.m.