LIST OF FIGURES


Figure pge

2.1 Potential field created by information particles top view............... ..................10

2.2 Potential field created by the information particles 3D view..............................11

2.3 Illustration of information particles and the forces acting on them ......................12

3.1 Sphere packing problem N denotes number of small circles.............................17

3.2 Empirical estimation of threshold ........... ........................................... 18

3.3 Spreading of robots over a circular region............ .................. ... ....................20

3.4 Trajectories of the robots while spreading over the circle .............. ...................21

3.5 Estimated pdf of the final position of robots using Parzen window estimator ........22

3.6 Side view of the estim ated pdf ............... ........................................ ......... .......23

3.7 Analysis of the spreading algorithm with variation in velocity ..............................24

3.8 Noise analysis for spreading algorithm ............... .......................... ..... ............. 25

3 .9 O b stacle A v oid an ce....................................................................... .................... 2 7

3 .10 Jordan curve theorem ....................................................................... ..................2 8

3.11 Spreading of robots over a star shaped region. .....................................................30

3.12 Spreading of robots over different regions..........................................................31

3.13 Com prison of speed of spreading (N = 10) ................................. ..................... 33

3.14 Com prison of speed of spreading (N = 30) ................................. ..................... 33

3.15 Com prison of speed of spreading (N = 50) ................................. ..................... 34

4.1 Technique for collective target tracking........................................ ............... 37

4.2 Collective target tracking of a stationary target with robots in circular formation..38