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Scale-Adaptive Polygonal Formations of Submersible Vehicles and Tracking Isocontours

Kalantar, Shahab; Zimmer, Uwe


Building on the assumption that identification of a sufficient number of isoclines of an environmental field (such as the ocean bottom terrain) allows efficient reconstruction of the field, in this paper, a sequel to [1] , we describe a system where a group of robots in a spacial arrangement (a regular polygon centred around a lead robot) locally construct the field (measured at the locations of the robots) inside the polygonal area using interpolation by barycentric coordinates. If the error...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008)
DOI: 10.1109/IROS.2008.4650573


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