3.2.3 R results ...........................................................19
 3.2.3.1 Spreading algorithm .................................... ................................... 19
 3.2.3.2 U uniform ity analysis ................................... .................................22
 3.2.3.3 V elocity variation analysis .............................................................23
 3.2.3.4 Noise analysis.............. .. ................................... 24
 3.2.4 O obstacle A voidance.................................... ...................... .. ............... 25
 3.3 Spreading Algorithm for Piecewise Linear Regions ........................................28
 3.3.1 Jordan C urve Theorem ........................................ .......... ............... 28
 3.3.2 R results .................................... ............................................ 29
 3.4 Comparison with the Nearest Neighbor Technique ............................................31

4 COLLECTIVE TARGET TRACKING .......... ................................ ...............35

 4.1 Requirements and Suitable Modifications.....................................................35
 4.2 Decentralized Target Tracking Algorithm.................................. ...............36
 4 .3 R e su lts ............... ........................................ ................ 3 8
 4.3.1 Stationary Target .............................. ..... .............. ............... 38
 4.3.2 M oving Target ............................................ .. ...... .. ........ .... 39

5 TOWARD REAL-TIME IMPLEMENTATION ................................................. 42

 5 .1 Im plem entation Issu es ............................................................... .....................42
 5.1.1 Com m unication Schem e....................................... .......................... 42
 5.1.2 G radient Calculation ......................................................... ............... 45
 5 .1.3 R esu lts .......................................................................4 5
 5.2 W ebots Sim ulation .................................................... .................... 47
 5.2.1 W ebots A n Introduction ........................................ ...................... 48
 5.2.2 Environment and Robot Design ...................................... ............... 49
 5.2.3 Controller Program m ing....................................... ......................... 52
 5.2.4 R results and D discussion ........................................................................ 54

6 CONCLUSION AND FUTURE WORK ....................................... ............... 59

 6 .1 C o n c lu sio n ...................................................................................................... 5 9
 6.2 Future R research ...................... .................... ................... .... ....... 60

L IST O F R E FE R E N C E S ............................................................................. .............. 62

BIO GR APH ICAL SK ETCH ............................................................. ........................ 65












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