Distributed control of automonous agents

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The primary interest is with theoretical problems associated with distributed robot networks where very simple robots have some collective capability. It is proposed to continue previous research, tailored to student interest and ability. Two particular areas are proposed: 1) To study the robot rendezvous problem with more realistic aspects taken into account:  time delay for image capture, errors in camera resolution, sampled data controllers, non-synchroneity in processors from robot to robot. The rendezvous problem for unicycles with limited visibility is a completely open problem and would make an excellent PhD topic. 2) To try to adapt curve-shortening theory to robot formation evolution. The formation of a finite number of robots can be described by a polygon. The goal is  to create a distributed control strategy for polygons that exhibits attributes similar to Gage-Hamilton-Grayson theory for curves in the plane.