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Experimental validation of cooperative environmental boundary tracking with on-board sensors

This paper describes a cooperative testbed implementation of a new algorithm (Jin and Bertozzi, CDC 2007) for environmental boundary tracking and estimation using only localized noisy sensors. The tracking algorithm is based on Page's cumulative sum algorithm (CUSUM) a method for change-point detection. A geometric, biologically inspired, motion control algorithm allows individual vehicles to track and follow the environmental boundary without external positioning information. Relative positioning between vehicles allows several to maintain a convoy while tracking the boundary. The algorithm performs well in the presence of moderate sensor noise.