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 6 of 6 for “"control of multi-robot systems"”.
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Distributed, Stable Topology Control of Multi-Robot Systems with Asymmetric Interactions
Multi-robot systems have recently witnessed a swell in interest in the past few years because of their various applications such as agricultural autonomy, medical robotics, industrial and commercial automation and, search and rescue. In this thesis, we particularly investigate the behavior of …
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Mixed Modes of Autonomy for Scalable Communication and Control of Multi-Robot Systems
Multi-robot systems (MRS) offer many performance benefits over single robots for tasks that can be completed by one robot. They offer potential redundancies to the system to improve robustness and allow tasks to be completed in parallel. These benefits, however, can be quickly offset by losses in …
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Decentralized control of multi-robot systems using partially observable Markov Decision Processes and belief space macro-actions
Planning, control, perception, and learning for multi-robot systems present signicant challenges. Transition dynamics of the robots may be stochastic, making it difficult to select the best action each robot should take at a given time. The observation model, a function of the robots' sensors, may …
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Ensemble control of robotic systems
In this dissertation, we apply the framework of ensemble control theory to derive an approximate steering algorithm for two classical robotic systems---the nonholonomic unicycle and the plate-ball manipulator---in the presence of model perturbation that scales all inputs by an unknown but bounded …
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Formation control of multiple robots under packet loss
… packet loss in leader-follower formation control of multi-robot systems, with a focus on Automated Guided Vehicles (AGVs) and drones. It presents a comprehensive analysis of how packet loss affects linear controllers, including Linear Quadratic Regulator (LQR) for AGV position tracking and …
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Fault-tolerant control policies for multi-robot systems
… algorithms for networked mobile autonomous robots. Often, in multi-robot systems, each robot executing a coordination task is a little cost, a disposable autonomous agent that has ad-hoc sensing or communication capability, and limited mobility. Coordination tasks that a group of multiple …