Multi-Robot Assignment and Formation Control - A method of efficient, dynamic formation synthesis and maintenance for mobile robots

by Macdonald, Edward
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Macdonald, Edward Multi-Robot Assignment and Formation Control - A method of efficient, dynamic formation synthesis and maintenance for mobile robots
Macdonald, Edward - Multi-Robot Assignment and Formation Control - A method of efficient, dynamic formation synthesis and maintenance for mobile robots

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Description

The fundamental goal of multi-agent robotics is simple: how to create control laws and behaviors that, when executed by each individual robot, some desirable global behavior emerges. The global behavior may range from something as simple as the robots meeting at a single point, to something as complex as a collective search and rescue mission. Our research focuses on one of the more fundamental issues in multi-agent, mobile robotics: the formation control problem. The idea is to create controllers that cause robots to move into a predened formation shape. This is a well studied problem for the scenario in which the robots know in advance to which point in the formation they are assigned. In our case, we assume this information is not given in advance, but must be determined dynamically. This thesis presents an algorithm that can be used by a network of mobile robots to simultaneously determine ecient robot assignments and formation pose for rotationally and translationally invariant formations. This allows simultaneous role assignment and formation sysnthesis without the need for additional control laws.

Contributors

Author:
Macdonald, Edward

Further information

Biography Artist:
Edward Macdonald graduated with a Master's Degree in Electrical Engineering from Georgia Institute of Technology in 2011. Focusing on Systems and Control, he has specialized in the control of mobile robotic vehicles. He now works on developing control systems for Symbotic, a robotics company that provides automation for warehouse supply networks.
Language:
Englisch
Number of Pages:
84
Media Type:
Taschenbuch
Publisher:
LAP Lambert Academic Publishing

Master Data

Product Type:
Paperback book
Package Dimensions:
0.22 x 0.15 x 0.005 m; 0.172 kg
GTIN:
09783848403400
DUIN:
K7KRQHL82LE
$64.99
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