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Zhang, Fumin

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Author: Egerstedt, Magnus B. × search.filters.applied.f.isOrgUnitOfPublicationTitle: Institute for Robotics and Intelligent Machines (IRIM) ×

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    Intruder Capturing Game on a Topological Map Assisted by Information Networks
    (Georgia Institute of Technology, 2011-12) Kim, Jonghoek ; Maxon, Sean ; Egerstedt, Magnus B. ; Zhang, Fumin
    Intruder capturing games on a topological map of a workspace with obstacles are investigated. Assuming that a searcher can access the position of any intruder utilizing information networks, we provide theoretical upper bounds for the minimum number of searchers required to capture all intruders on a Voronoi graph. Intruder capturing algorithms are proposed and demonstrated through an online computer game.
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    A provably complete exploration strategy by constructing Voronoi diagrams
    (Georgia Institute of Technology, 2010) Kim, Jonghoek ; Zhang, Fumin ; Egerstedt, Magnus B.
    We present novel exploration algorithms and a control law that enables the construction of Voronoi diagrams over unknown areas using a single vehicle equipped with range sensors. The control law uses range measurements to make the vehicle track Voronoi edges between obstacles. The exploration algorithms make decisions at vertices in the Voronoi diagram to expand the explored area until a complete Voronoi diagram is constructed in finite time. Our exploration algorithms are provably complete, and the convergence of the control law is guaranteed. Simulations and experimental results are provided to demonstrate the effectiveness of both the control law and the exploration algorithms.
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    Simultaneous Cooperative Exploration and Networking Based on Voronoi Diagrams
    (Georgia Institute of Technology, 2009) Kim, Jonghoek ; Zhang, Fumin ; Egerstedt, Magnus B.
    We develop a strategy that enables multiple intelligent vehicles to cooperatively explore complex territories. Every vehicle deploys communication devices and expands an information network while constructing a topological map based on Voronoi diagrams. As the information network weaved by each vehicle grows, intersections eventually happen so that the topological maps are shared. This allows for distributed vehicles to share information with other vehicles that have also deployed communication devices. Our exploration algorithms are provably complete under mild technical assumptions. A performance analysis of the algorithms shows that in a bounded workspace, the time spent to complete the exploration decreases as the number of vehicles increases. We further provide an analytical formula for this relationship. Time efficiency of the algorithms is demonstrated in MATLAB simulation.
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    Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors
    (Georgia Institute of Technology, 2009) Kim, Jonghoek ; Zhang, Fumin ; Egerstedt, Magnus B.
    In this paper, we present feedback control laws for an autonomous vehicle with rigidly mounted range sensors to track a desired curve. In particular, we consider a vehicle that has a group of rays around two center rays that are perpendicular to the velocity of the vehicle. Under such a sensor configuration, singularities are bound to occur in the curve tracking feedback control law when tracking concave curves. To overcome this singularity, we derive a hybrid strategy of switching between control laws when the vehicle gets close to singularities. Rigorous proof and extensive simulation results verify the validity of the proposed feedback control law.