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R. Aragüés (1980, Zaragoza) received the M.S. degree in system engineering and computer science from the Universidad de Zaragoza, Zaragoza, Spain, in 2008, and the Ph.D. degree with the Departamento de Informática e Ingeniería de Sistemas in March 2012. Her research interests include multirobot perception, map merging, and distributed consensus in robotic networks. Distributed Algorithms on Robotic Networks for Coordination in Perception Tasks Programa Oficial de Posgrado en Ingeniería Informática Distributed Algorithms on Robotic Networks for Coordination in Perception Tasks PhD Thesis Rosario Aragüés Muñoz Departamento de Informática e Ingeniería de Sistemas (DIIS) Instituto de Investigación en Ingeniería de Aragón Escuela de Ingeniería y Arquitectura (EINA) Universidad de Zaragoza
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Page 1 and 2: R. Aragüés (1980, Zaragoza) recei
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Page 18: n n
Page 21 and 22: n n
Page 23 and 24: y 1000 500 −500 2000 1000 0 z
Page 25 and 26: • •
Page 27 and 28: • •
Page 29 and 30: k−
Page 31 and 32: •
Page 33 and 34: •
Page 35 and 36: (x, y)
Page 37 and 38: ρi = 0
Page 39 and 40: j xr zj
Page 41 and 42: xri i = 1, 2 zij j
Page 43 and 44: • (xr, yr,
Page 45 and 46: % final divergence number of steps
Page 47 and 48: 14 12 10 8 6 4 2 0 −2 −4 FINAL
Page 49 and 50: 14 12 10 8 6 4 2 0 −2 −4 FINAL
Page 51 and 52: i mi ∈ N i
Page 53 and 54: i Hi Hi
Page 55 and 56: Lchild i Li Lchild j
Page 57 and 58: i Li(0) = Li, I i G(0) = Σ
Page 59 and 60: ˆ Σi G (t)−Qi G (t)
Page 61 and 62: 10 8 6 4 2 0 −2 −4 −6 −8
Page 63 and 64: 10 8 6 4 2 0 −2 −4 −6 −8
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10 8 6 4 2 0 −2 −4 −6 −8
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n i, j r, s G
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i [I k j ]r,s [i k j ]r
Page 72 and 73:
LW = diag(W 1) − W
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Y = P T ZP r S2 . . . Sn 0 P = 0
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exw(t) exw(t + 1) = A exw(t), exw(
Page 78 and 79:
k1a k2b |k1a−k2b| ≤ max{k
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k x k ∗ = rr T u k = 1x k avg, w
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k − 1 k β k λ t
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i ∈ V
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A(t + kl) t k Ψ (t1 +
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15 10 5 0 −5 −10 −15 −5 0 5
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15 10 5 0 −5 −10 −15 −5 0 5
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i th f i r A, Ar,s [A]r,s
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msum |Fdis| = n i=1 mi = msum
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i, ti t, Xij(t) ∼ Xij(t
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i ∈ Vcom, r ∈ Si.
Page 101 and 102:
3 < df = 7 f A 1 f A 2
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[ji]s,r (d) i f i r Cq
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f i r ∈ ˜ Si Xij ¯r ∈
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f i r ∈ ˜ Si i f i r
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, s ∈ C [C]r,s ≥ 0, C,
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1, . . . , rℓ, Cℓ.
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0 6 1 9 7 8 8 3 1 0 7 9 8 8 3 6 1 6
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10 8 6 4 2 0 −2 −4 −6 −8
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Gdis
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Gdis
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i, j e, e ′ e i
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0 < θi < π i ∈ V
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lim t→∞ T i G(t) = (R i ) T T
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zθ ∈ Rm Σzθ ∈ Rm×m
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ˆx a Va ˆ θa Va Υw = Σ
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tmax ¯ θ a i tmax ¯
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i ˆp a i = Υˆp a Va ˆpaV a =
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ˆx a V
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G a ∈ Ni i ∈ Va J
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i ∈ V ˆx cen i (t)
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ρ(J) = λeff(W) ||ecen(t)||2
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3 m G
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3.38 ◦ 1.87 ◦ x cm cm y
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−2 −2.5 −3 −3.5 −4 Centr.
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35 30 25 20 15 10 5 0 0 200 400 600
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35 30 25 20 15 10 5 0 0 200 400 600
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k k
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P(k + 1|k) = I Si Si = 1 +
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¯x(k + 1) = ((¯xr(k + 1)) T , ¯x
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8 6 4 2 0 −2 F1 Initial map −4
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i 1 · · · m x 1 i fi1(x 1 i )
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G n k k ∈ N i, j t
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i xi(t) xj(t) (i)
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i ˜ Cij(k) ˜ Cij(k) = 0
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T = diam(G) βi(T ) i ∈ V
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L V T L LVL = λL = diag(0, λ2(
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˙x(t) = −Lˆx(t) = u(t), ei(t) =
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F 16 r1
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14 12 10 8 6 4 2 0 −2 λ * (L) Es
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60m × 45m
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15 10 5 0 −5 −10 −15 F23 −5
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4 2 0 3000 2000 1000 x 10 4 0 20 40
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23 22.5 22 0.5 −0.5 0 20 40 23 22
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1 7 16
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6 4 2 0 −2 k=1 k=2 k=3 k=4 k=5
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9 9 9
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(C) msum
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(c) msum
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y −1000 500 2000 x
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−200 200 400 0 R9 R7 R5 R2 R6 −
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2000 1000 0 −1000 −1000 0 1000
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2000 1000 0 −1000 −1000 0 1000
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2000 1000 0 −1000 −1000 0 1000
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2000 1000 0 −1000 −1000 0 1000
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2000 1000 0 −1000 −1000 0 1000
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2000 1000 0 −1000 −1000 0 1000
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O(n)
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p
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p
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60×45m
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