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|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||Citation:||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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