Loading...

Stable and Connected Coordination of Robotic Swarms Through Local Information

Etemadi Haghighi, Shahram | 2011

1271 Viewed
  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 41751 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasty, Aria; Vossoughi, Gholamreza
  7. Abstract:
  8. In this thesis, coordination of a group of autonomous agents, through a scalable control structure and with very limited communications, is addressed. Inter-agent action functions are designed to guarantee the network connectivity. Two coordinator agents with different natures are designed. One is attractive and is named leader-agent (LA). The other is repulsive and is named shepherd-agent (SA). Under the assumption that both coordinators locally affect the group, we have proved that the governing equation of the whole group may have variable order.
    By using nonlinear control techniques, coordination algorithms are designed to move the group on a predefined path or to a destination. It is proved that the coordination algorithms can be used even in obstacle fields. An algorithm is designed which by directional movements in some nodes, makes the network more flexible. This flexibility leads to the possibility of moving through narrow gates. It is shown that the combination of LA-SA and the above algorithm results in fluent motion of the group through obstacles. Cooperation of the LA and the SA needs no real-time communication which is the most important advantage of the proposed control scheme over the existing multi leader flocking coordination frames.

  9. Keywords:
  10. Obstacle Avoidance ; Multiagent System ; Robotic Swarm ; Flocking ; Coordination ; Leader Following ; Shepherd-Agent (SA) ; Connectivity Control

 Digital Object List

 Bookmark

  • Binder1
    • A1-جلد
    • Tasvib
    • تقدیم
    • با سپاس فراوان از اساتید راهنمای پروژه
    • B-خلاصه
    • A-GovahiFarsi
    • C-فهرست مطالب
    • D-فهرست جداول
    • E-فهرست شکل ها
    • F-جدول علائم
    • G-فهرست قضایا
  • Binder2
    • H-1_LitSur_25May11
    • I-2_Modeling_25May11
    • J-3_Stability_25May11
    • K-4_LeaderCoord_25May11
    • L-5_ShepardCoord_25May11
    • M-6_Behavioral_25May2011
    • N-7_ObstaclePass_25May11
    • O-8_Conclusion_25May11
    • P-9_ref_25May11
  • Binder3
    • A-GovahiEnglish
    • R-Abstract
    • A1-EnglishCover
...see more