Abstract — We study minimalism in sensing and control by considering a multi-agent system in which each agent moves like a Dubins car and has a limited sensor that reports only the presence of another agent within some sector of its windshield. Using a very simple quantized control law with three values, each agent tracks another agent assigned to it by maintaining that agent within this windshield sector. We use Lyapunov analysis to show that by acting autonomously in this way, the agents will achieve rendezvous if the initial assignment graph is connected. A distinguishing feature of our approach is that it does not involve any estimation procedure aimed at reconstructing coordinate information. Our scenario thus appears to be the first example in which an interesting task is performed with extremely coarse sensing and control, and without state estimation. The system was implemented in computer simulation, accessible through the Web, of which the results are presented in the paper. (a) (b)

Abstract — This paper presents a switched homography-based visual control for differential drive vehicles. The goal is defined by an image taken at the desired position, which is the only previous information needed from the scene. The control takes into account the field-of-view constraints of the vision system through the specific design of the paths with optimality criteria. The optimal paths consist of straight lines and curves that saturate the sensor viewing angle. We present the controls that move the robot along these paths based on the convergence of the elements of the homography matrix. Our contribution is the design of the switched homography-based control, following optimal paths guaranteeing the visibility of the target. I.

Abstract — We study minimalism in sensing and control by considering a multi-agent system in which each agent moves like a Dubins car and has a limited sensor that reports only the presence of another agent within some sector of its windshield. Using a very simple quantized control law with three values, each agent tracks another agent assigned to it by maintaining that agent within this windshield sector. We use Lyapunov analysis to show that by acting autonomously in this way, the agents will achieve rendezvous if the initial assignment graph is connected. A distinguishing feature of our approach is that it does not involve any estimation procedure aimed at reconstructing coordinate information. Our scenario thus appears to be the first example in which an interesting task is performed with extremely coarse sensing and control, and without state estimation. The system was implemented in computer simulation, accessible through the Web 1, of which the results are presented in the paper. (a) (b)