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	<event:Event rdf:about="http://ebiquity.umbc.edu/event/html/id/303/Robot-Line-Formation">
		<rdfs:label><![CDATA[Robot Line Formation]]></rdfs:label>
		<event:title><![CDATA[Robot Line Formation]]></event:title>
		<event:speaker>
<person:MSStudent rdf:about="http://ebiquity.umbc.edu/person/html/Francisco/Vasconcelos"><person:name><![CDATA[Francisco Vasconcelos]]></person:name><rdfs:label><![CDATA[Francisco Vasconcelos]]></rdfs:label></person:MSStudent>
		</event:speaker>
		<event:startDate rdf:datatype="&xsd;dateTime">2009-07-16T15:00:00-05:00</event:startDate>
		<event:endDate rdf:datatype="&xsd;dateTime">2009-07-16T16:00:00-05:00</event:endDate>
		<event:location><![CDATA[325b ITE]]></event:location>
		<event:abstract><![CDATA[Pattern formation is one of the main research topics in swarm robotics. Its
goal is to control the motion of a set of robots in order to form the
desired shape. In this thesis, a scalable solution is proposed for the
particular case of line formation of differential drive robots, focused on
minimizing formation time. The problem is divided into three steps: line
formation, target assignment and navigation. The first step consists of
choosing the specific line the robots should form, and principal components
analysis is used to minimize perpendicular offsets of robot positions to
the line. The second step is an assignment problem of N robots to N target
positions along the chosen line, and an optimal solution is proposed to
minimize formation time, assuming no collisions. The third step is the
navigation algorithm that make the robots go from their position to their
assigned target, and different algorithms are presented.  Simulations with
different setups are done to compare the navigation algorithms and to
observe how the target assignment algorithm behaves in a less idealistic
scenario, where collisions have to be avoided.
]]></event:abstract>
		<event:host>
<person:Collaborator rdf:about="http://ebiquity.umbc.edu/person/html/Tim/Oates"><person:name><![CDATA[Tim Oates]]></person:name><rdfs:label><![CDATA[Tim Oates]]></rdfs:label></person:Collaborator>
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