In this work a system of autonomous agents engaged in cyclic pursuit (under constant bearing (CB) strategy) is considered, for which one informed agent (the leader) also senses and responds to a stationary beacon. Building on the framework proposed in a previous work on beacon-referenced cyclic pursuit, necessary and suffi- cient conditions for the existence of circling equilibria in a system with one informed agent are derived, with discussion of stability and performance. In a physical testbed, the leader (robot) is equipped with a sound sensing apparatus composed of a real time embedded system, estimating direction of arrival of sound by an Interaural Level and Phase Difference Algorithm, using empirically determined phase and level signatures, and breaking front-back ambiguity with appropriate sensor placement. Furthermore a simple framework for implementing and evaluating the performance of control laws with the Robot Operating System (ROS) is proposed, demonstrated, and discussed.
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|Advisor:||Krishnaprasad, P. S., Galloway, Kevin S.|
|Commitee:||Tits, Andre L.|
|School:||University of Maryland, College Park|
|School Location:||United States -- Maryland|
|Source:||MAI 55/05M(E), Masters Abstracts International|
|Subjects:||Electrical engineering, Robotics, Acoustics|
|Keywords:||Collective behavior, Cyclic pursuit, Leader based, Nonlinear control, Robot phonotaxis, Sound source localization|
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