Experimental validation of an algorithm for cooperative boundary tracking
C.H. Hsieh, Zhipu Jin, Daniel E. Marthaler, B.Q. Nguyen, D. Tung, Andrea Louise Bertozzi, Richard M. Murray · 2005
This paper demonstrates the test bed implementation of a simple algorithm for cooperatively locating and following environmental boundary in two-dimensional space. The algorithm alternates between clockwise and counterclockwise motion along circular paths. By switching the orientation of rotation upon crossing the boundary, a vehicle is able to continue along its search. Coordination is achieved by changing vehicle speeds depending on the location of other vehicles.