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Zhang, Fumin

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An exploration strategy by constructing Voronoi Diagrams with provable completeness

2009-12 , Kim, Jonghoek , Zhang, Fumin , Egerstedt, Magnus B.

We present novel exploration algorithms and a control law that enable the construction of Voronoi diagrams over unknown areas using a single autonomous vehicle equipped with range sensors. Our control law and exploration algorithms are provably complete. The control law uses range measurements to enable tracking Voronoi edges between two obstacles. Exploration algorithms make decisions at vertices of the Voronoi diagram to expand the explored area until a complete Voronoi diagram is constructed in finite time. MATLAB simulation 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

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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Simultaneous Cooperative Exploration and Networking based on Voronoi Diagrams

2009-10 , Kim, Jonghoek , Zhang, Fumin , Egerstedt, Magnus B.

We develop a strategy that enables multiple intelligent vehicles to cooperatively explore complex and dangerous territories. Every vehicle drops communication devices and expands an information network while constructing a topological map based on the Voronoi diagram. As the information network weaved by each vehicle grows, intersections eventually happen so that the networks are shared. This allows for distributed vehicles to share information with other vehicles that have also dropped 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 in proportion to the number of vehicles employed. The algorithms are demonstrated in simulation.

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Curve Tracking for Autonomous Vehicles with Rigidly Mounted Range Sensors

2008-12 , Kim, Jonghoek , Zhang, Fumin , Egerstedt, Magnus B.

In this paper, we present a feedback control law to make an autonomous vehicle with rigidly mounted range sensors track a desired curve. In particular, we consider a vehicle which has two range sensors that emit rays perpendicular to the velocity of the vehicle. Under such a sensor configuration, singularities are bound to occur in the feedback control law. Thus, to overcome this, we derive a hybrid strategy of switching between control laws close to the singularity.

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Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors

2009-09 , 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.

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