Current Work

Suranga Hettiarachchi has just completed his Ph.D. in Computer Science. A part of his thesis centers on building an Obstacle Avoidance Module for our Maxelbots, and merging this with our trilateration framework.

Suranga's Ph.D. Thesis

Papers and Slide Presentations of the Maxelbot Project.

Quad Chart of our work.
Executive Summary of our work.

Here is our most recent draft of a paper.

Here is one published paper with some results, as well as slides.

Reports

Tom Kunkel and Paul Maxim have greatly extended Rod's early work.

The Beginning - Our Approach to Trilateration

Rod Heil's thesis summarizes the beginning of our trilateration project. It includes the basics of trilateration, basic equations, analysis of error, and a first attempt in hardware. Rod then discusses the parabolic cones we use, and shows how we can use everything to do multirobot trilateration. Verilog code is given in an Appendix.