Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/16566
Title: Formation and reconfiguration control for multi-robotic systems
Authors: ZAMANI MOHSEN
Keywords: Multi- Robotic Systems, Multi-Agent Systems, Controllability, Graph Theory, Cooperative Control, Observability
Issue Date: 2-Jul-2009
Source: ZAMANI MOHSEN (2009-07-02). Formation and reconfiguration control for multi-robotic systems. ScholarBank@NUS Repository.
Abstract: In this thesis, we mainly focus on the cooperative control of multi-agent systems. Specifically, a decentralized cooperative control law for performing a specific formation or coordination among a group of robots is studied and the required conditions for achieving this task is investigated. This dissertation contributes to cooperative control of multi-agent systems from both theoretical and practical perspectives. Firstly, several essential problems such as controllability, observability and optimality are discussed. Secondly, a formation control among a group of robots is implemented in practice. Specifically, current dissertation provides a graph theoretical interpretation for the controllability property of the multi-agent system. Moreover, a novel consensus observer strategy is proposed and sufficient and necessary conditions for observability of multi-agent system are driven. Furthermore, a paradigm is introduced which systematically assigns the communication weights among a group of robots. Finally, a formation control among a group of three wheeled robots is implemented.
URI: http://scholarbank.nus.edu.sg/handle/10635/16566
Appears in Collections:Master's Theses (Open)

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