Modelling and Control of Swarm Robotic Systems with Multiple Ground and Aerial Clusters under an Imperfect Network, Ph.D. Dissertation Sharif University of Technology ; Alasty, Aria (Supervisor)
Abstract
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...
Cataloging briefModelling and Control of Swarm Robotic Systems with Multiple Ground and Aerial Clusters under an Imperfect Network, Ph.D. Dissertation Sharif University of Technology ; Alasty, Aria (Supervisor)
Abstract
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...
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