Boundary Tracking

 There are many ways to track the boundary of two regions. For the problem of tracking a boundary with only binary state sensors, only tells whether in region or out, the boundary tracking becomes more difficult. Mathieu Kemp, Andrea L. Bertozzi, and Daniel Marthaler ( UUV-gas paper) proposed the UUV-gas algorithm as a method for this type of problem.

 Over the summer of 2004, we worked at Caltech, using the Multi-Vehicle Wireless Testbed (MVWT) provided by Richard M. Murray (MVWT website) to implement the UUV-gas algorithm using the vehicles there. The results will appear in the 2005 American Control Conference. The ACC paper

Here is a result from our experiment (figure, *note: the position data is being played back at 3times actual speed. ). The boundary being tracked is in yellow. The three vehicles in red, green and blue(from the position data of the overhead tracking system), each running their own version of the UUV-gas. The "tail" of each vehicle is the last four position, is good visual of the vehicle speed. The small colored circles are the reference trajetories of the vehicles. All the information can be found in the ACC paper (link above). Here is the live video of an earlier experiment. 30mb video of vehicles