Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 15 of 15 for “"Coverage control"”.
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Safe and reliable dynamic coverage control for multi-agent systems
In this dissertation, we study the dynamic coverage problem for multi-agent systems, where the main objective of a group of mobile agents is to explore a given compact region. Qualitatively, the coverage goal can be described as gathering sensory information for each point in the compact domain up …
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Implementation of safe and reliable coverage control for multiple mobile robots
… to an implementation of a safe and reliable coverage control algorithm. The application was focused on implementation on differential drive robots developed at the University of Illinois at Urbana-Champaign. Control laws for coverage, avoidance, and proximity were applied to a multi-agent …
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Coverage Path Planning And Control For Autonomous Mobile Robots
Coverage control has many applications such as security patrolling, land mine detectors, and automatic vacuum cleaners. This Thesis presents an analytical approach for generation of control inputs for a non-holonomic mobile robot in coverage control. Neural Network approach is used for complete …
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Active Information Gathering Using Distributed Mobile Sensing Networks
… information using sensors in order to make control decisions. Some problems where autonomous robots are useful include mapping, environmental monitoring, and surveillance. In some cases, information gathering turns into a multiple target tracking (MTT) problem. Usually, an MTT tracker is …
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Distributed, adaptive deployment for nonholonomic mobile sensor networks : theory and experiments
… and convergence of an adaptive and decentralized coverage control for a team of mobile sensors. This new approach assumes nonholonomic sensors rather than the usual holonomic sensors found in the literature. The kinematics of the unicycle model and a nonlinear control law in polar coordinates are …
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Reliable *Control of Multi-Agent *Systems
… to address the problem of semiautonomous control of multi-agent systems, and show that stability of the system is maintained in the presence of unreliable communication channels. We show that this result can be applied to specific cases such as bilateral one-to-one and one-to-many …
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Real-time optimal control of autonomous switched systems
… thesis provides a real-time algorithmic optimal control framework for autonomous switched systems. Traditional optimal control approaches for autonomous switched systems are open-loop in nature. Therefore, the switching times of the system can not be adjusted or adapted when the system parameters …
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Coordinated part delivery using distributed planning
… robots and assembly robots, use a distributed coverage algorithm to determine where parts should be delivered. The robots consist of a mobility platform (iRobot iCreate), a manipulation platform (Crustcrawler arm), and an IR communication system to enable recognition and grasping of parts. To …
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MULTI-ROBOT COORDINATION AND COOPERATION VIA GRAPH-BASED COMPUTATION
… reward models. We first address the multi-agent coverage control problem, introducing graph-based computation via Graph Neural Networks, which boasts improved performance and scalability by leveraging learned inter-agent communication strategies. We then address the multi-robot task allocation …
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Cooperative collision avoidance control and coordination for multiagent Lagrangian systems with disturbances
… viewed as a pure academic problem, designing controllers for such complex systems is a matter of much interest. Controller design for multi-agent system might focus on achieving several objectives, such as formation control, coverage control, consensus, target capture, pursuit evasion etc., …
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Clustering, coverage and aggregation methods for large networks
… consensus in the design of communication and controller actuation rules in multi-agent systems, and to estimate multiple service demands in web-based software systems in order to enhance service quality by web cluster relocation. The level of complexity in modeling, analysis, and control …
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Distributed Target Detection and Coverage for Holonomic UAVs
… into a grid, where the average percent coverage of each tile is monitored with respect to each agent's field-of-view. Once all agents are covering targets and the average area-coverage value stabilizes, PPD terminates. Alternately, if all targets are found and there exist additional …
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Multi-objective control and coordination of multi-agent systems
In this dissertation, control methodologies for systems of multiple mobile agents facing multiple objectives are considered. Carefully constructed objective functions for agents interested in any or all of collision avoidance, robust communications, waypoint following, and dynamic coverage …
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Safe navigation and motion coordination control strategies for unmanned aerial vehicles
… needed towards developing advanced reliable control strategies for UAVs to enable safe navigation in unknown and dynamic environments. This problem is even more challenging for multi-UAV systems where it is more efficient to utilize information shared among the networked vehicles. Therefore, …
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Συνεργατικός έλεγχος δικτυωμένων ρομποτικών συστημάτων
Το κυρίως αντικείμενο της διατριβής αυτής είναι ο σχεδιασμός και η ανάλυση αποκεντρωμένων τεχνικών ελέγχου για επίτευξη μέγιστης κάλυψης από κινούμενα δίκτυα αισθητήρων. Λόγω των πολλών εφαρμογών αυτών σε αποστολές σχετιζόμενες με εξερεύνηση περιοχών ενδιαφέροντος, περιβαλλοντική δειγματοληψία, …