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dc.contributor.advisorYun, Xiaoping
dc.contributor.authorAlptekin, Gokhan
dc.dateJune, 1996
dc.date.accessioned2013-04-30T22:03:46Z
dc.date.available2013-04-30T22:03:46Z
dc.date.issued1996-06
dc.identifier.urihttp://hdl.handle.net/10945/31948
dc.description.abstractThe formation problem of distributed mobile robots was studied in the literature for idealized robots. Idealized robots are able to instantaneously move in any direction, and are equipped with perfect range sensors. In this study, the formation problem of distributed mobile robots that are subject to physical constraints is addressed. Mobile robots considered in this study have physical dimensions and their motions are governed by physical laws. They are equipped with sonar and infrared range sensors. The formation of lines and circles by using the potential field method is investigated in detail. It is demonstrated that line and circle algorithms developed for idealized robots do not work well for physical robots. New line and circle algorithms, with consideration of physical robots and sensors, are presented and validated through extensive simulations. Movement in formation of a small group of physical mobile robots is also studied. An algorithm is developed using the potential field method that makes robots move through a workspace filled with many obstacles while maintaining the formation.en_US
dc.description.urihttp://archive.org/details/geometricformati1094531948
dc.format.extent82 p.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsApproved for public release, distribution unlimiteden_US
dc.titleGeometric formation with uniform distribution and movement in formation of distributed mobile robotsen_US
dc.typeThesisen_US
dc.description.recognitionNAen_US
dc.description.serviceTurkish Navy authoren_US
etd.thesisdegree.nameM.S. in Electrical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineElectrical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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