量子化観測を伴う移動ロボットシステムのランデブー制御

―ディザを用いた制御と性能解析

抄録

This paper develops a rendezvous control method for a mobile robot system with quantized sensing. First, a new control technique based on dithering is proposed. Then, the performance of the proposed technique is analyzed, which shows the expected deviation of the positions of two robots and an upper bound of the deviation in steady state.