{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/34414"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/34414","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Feedback control of many differential-drive robots with uniform control inputs","abstract":"We describe a method of feedback position control for an ensemble of robots with unicycle kinematics under the constraint that every robot receives ex- actly the same global control inputs. Each robot in the ensemble scales its given control inputs by a bounded model parameter and thus may achieve a turning rate and forward speed which are unique. Exploiting inhomogeneities in robot execution of control inputs, we derive a globally asymptotically sta- bilizing feedback control policy to regulate the position of each robot. This policy scales linearly for any number of robots, and it stabilizes the system asymptotically to the goal position even with Gaussian noise in actuation. Computer simulations and hardware experiments are used to validate the pol- icy. Additionally, we propose methods for trajectory tracking and obstacle avoidance. Finally, we show an example of multi-robot object manipulation and assembly.","abstract_html":"We describe a method of feedback position control for an ensemble of robots with unicycle kinematics under the constraint that every robot receives ex- actly the same global control inputs. Each robot in the ensemble scales its given control inputs by a bounded model parameter and thus may achieve a turning rate and forward speed which are unique. Exploiting inhomogeneities in robot execution of control inputs, we derive a globally asymptotically sta- bilizing feedback control policy to regulate the position of each robot. This policy scales linearly for any number of robots, and it stabilizes the system asymptotically to the goal position even with Gaussian noise in actuation. Computer simulations and hardware experiments are used to validate the pol- icy. Additionally, we propose methods for trajectory tracking and obstacle avoidance. Finally, we show an example of multi-robot object manipulation and assembly.","abstract_has_math":false,"creators":["Onyuksel, Cem"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Bretl, Timothy W."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2012,"date_issued":"2012-08","date_published":"2012-08","updated_at":"2026-07-22T22:25:31Z","subjects":["Robotics","Control","Multi-Robot Control","Feedback Control","Differential-Drive Robot","Unicycle Robot","Ensemble Control","Ensemble","Uniform Inputs"],"languages":["en"],"rights":["Copyright 2012 Cem Onyuksel. Figures 1.1 and 1.2 used with permission from IEEE and American Chemical Society."],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/34414","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Bretl, Timothy W."]},{"key":"dc:creator","label":"Author","values":["Onyuksel, Cem"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2012-08","2012-09-18T21:15:44Z"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robotics","Control","Multi-Robot Control","Feedback Control","Differential-Drive Robot","Unicycle Robot","Ensemble Control","Ensemble","Uniform Inputs"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2012 Cem Onyuksel. 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This policy scales linearly for any number of robots, and it stabilizes the system asymptotically to the goal position even with Gaussian noise in actuation. Computer simulations and hardware experiments are used to validate the pol- icy. Additionally, we propose methods for trajectory tracking and obstacle avoidance. Finally, we show an example of multi-robot object manipulation and assembly.","Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2012-06-29T18:15:08Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Onyuksel_Cem.pdf: 2670282 bytes, checksum: e59b1672f35c159a5a5f26f3a566437a (MD5)","Made available in DSpace on 2012-09-18T21:15:44Z (GMT). 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This policy scales linearly for any number of robots, and it stabilizes the system asymptotically to the goal position even with Gaussian noise in actuation. Computer simulations and hardware experiments are used to validate the pol- icy. Additionally, we propose methods for trajectory tracking and obstacle avoidance. Finally, we show an example of multi-robot object manipulation and assembly.","Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2012-06-29T18:15:08Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Onyuksel_Cem.pdf: 2670282 bytes, checksum: e59b1672f35c159a5a5f26f3a566437a (MD5)","Made available in DSpace on 2012-09-18T21:15:44Z (GMT). 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