Please use this identifier to cite or link to this item:
https://scholarbank.nus.edu.sg/handle/10635/16566
DC Field | Value | |
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dc.title | Formation and reconfiguration control for multi-robotic systems | |
dc.contributor.author | ZAMANI MOHSEN | |
dc.date.accessioned | 2010-04-08T11:06:35Z | |
dc.date.available | 2010-04-08T11:06:35Z | |
dc.date.issued | 2009-07-02 | |
dc.identifier.citation | ZAMANI MOHSEN (2009-07-02). Formation and reconfiguration control for multi-robotic systems. ScholarBank@NUS Repository. | |
dc.identifier.uri | https://scholarbank.nus.edu.sg/handle/10635/16566 | |
dc.description.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. | |
dc.language.iso | en | |
dc.subject | Multi- Robotic Systems, Multi-Agent Systems, Controllability, Graph Theory, Cooperative Control, Observability | |
dc.type | Thesis | |
dc.contributor.department | ELECTRICAL & COMPUTER ENGINEERING | |
dc.contributor.supervisor | LIN HAI | |
dc.contributor.supervisor | TAN WOEI WAN | |
dc.description.degree | Master's | |
dc.description.degreeconferred | MASTER OF ENGINEERING | |
dc.identifier.isiut | NOT_IN_WOS | |
Appears in Collections: | Master's Theses (Open) |
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