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Modelling and Control of Swarm Robotic Systems with Multiple Ground and Aerial Clusters under an Imperfect Network

Mahdian Parrany, Ahmad | 2022

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 56664 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasty, Aria
  7. Abstract:
  8. In this study, an effective collective control strategy is presented for the decentralized behavior control of a heterogeneous multi–cluster swarm robotic system composed of a group of quadrotors as aerial agents, and a group of two–wheeled mobile robots as ground agents. In this regard, first of all, a new element for swarm robotic systems is introduced. This element, which is made up of a portion of swarm members and encircles the whole swarm, is called the shell element. An algorithm for developing the shell element in swarm robotic systems composed of agents moving in the two–dimensional space is established. Subsequently, inspired by the thermodynamic science and based on the introduced shell element, the thermodynamic concept of pressure is generalized to swarm robotic systems. The efficacy of the introduced shell element in solving the problem of passing through a narrow passage is studied. Then, the decentralized behavior control of a swarm of quadrotors on the basis of the nonlinear, highly–coupled, and under–actuated dynamic model of quadcopters is studied. The swarm of quadcopters must illustrate the desired swarm behavior while collision avoidance is preserved during the entire evolution process. Two fundamental swarm behaviors, i.e. swarm aggregation and leader–following, are simulated to demonstrate the efficacy of the proposed algorithm. Finally, based on the previous findings, the decentralized leader–following control of the heterogeneous multi–cluster swarm robotic system composed of a group of quadrotors and a group of two–wheeled mobile robots is studied. The interaction mechanism between the agents is based on the method of artificial potential fields. While the agents in the aerial and ground clusters communicate with each other through local and direct vision, the information exchange between the aerial and ground clusters is established through a wireless network. The effect of the communication imperfections of the wireless network on the leader–following behavior of the heterogeneous multi–cluster robotic swarm is investigated. Subsequently, an innovative component, called the trajectory predictor, is designed to compensate for the undesirable impacts caused by the communication imperfections of the wireless network
  9. Keywords:
  10. Swarm Robotics ; Mobile Robot ; Unmanned Aerial Vehicles (UAV) ; Leader-Follower Robots ; Leader Following ; Wireless Networks ; Multi–Cluster Swarm Robotic Systems ; Heterogeneous Swarm Robotic Systems ; Communication Imperfections

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