{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/45334"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/45334","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Implementation of safe and reliable coverage control for multiple mobile robots","abstract":"This thesis presents some results relating 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 system of robots. The control laws were merged to provide coverage using the system while guaranteeing inter-agent proximity, inter-agent collision avoidance, and agent-environment collision avoidance. Circular regions were considered for avoidance. The performance and limitation of the application are examined. Practical considerations for implementation are discussed. The experimental platform consisted of a motion capture system, three differential drive robots with multiple sensing capabilities, and two supporting computers for the motion capture system and data visualization.","abstract_html":"This thesis presents some results relating 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 system of robots. The control laws were merged to provide coverage using the system while guaranteeing inter-agent proximity, inter-agent collision avoidance, and agent-environment collision avoidance. Circular regions were considered for avoidance. The performance and limitation of the application are examined. Practical considerations for implementation are discussed. The experimental platform consisted of a motion capture system, three differential drive robots with multiple sensing capabilities, and two supporting computers for the motion capture system and data visualization.","abstract_has_math":false,"creators":["Rekoske, Richard"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Systems & Entrepreneurial Engr","degree_department":null,"school":null,"contributors":["Stipanović, Dušan M."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-08-22T16:36:58Z","date_published":"2013-08-22T16:36:58Z","updated_at":"2026-07-22T22:25:34Z","subjects":["Coverage Control","Implementation","Optitrack","Motion Capture System","OMAPL138","Avoidance Control","Proximity Control","Kalman Filter","Multiple Agents","Multi-objective"],"languages":["en"],"rights":["Copyright 2013 Richard Rekoske"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/45334","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Stipanović, Dušan M."]},{"key":"dc:creator","label":"Author","values":["Rekoske, Richard"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2013-08-22T16:36:58Z","2013-08"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Systems & Entrepreneurial 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":["Coverage Control","Implementation","Optitrack","Motion Capture System","OMAPL138","Avoidance Control","Proximity Control","Kalman Filter","Multiple Agents","Multi-objective"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2013 Richard Rekoske"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/45334"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This thesis presents some results relating 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 system of robots. The control laws were merged to provide coverage using the system while guaranteeing inter-agent proximity, inter-agent collision avoidance, and agent-environment collision avoidance. Circular regions were considered for avoidance. The performance and limitation of the application are examined. Practical considerations for implementation are discussed. The experimental platform consisted of a motion capture system, three differential drive robots with multiple sensing capabilities, and two supporting computers for the motion capture system and data visualization.","Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2013-07-05T15:08:45Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Rekoske_Richard.pdf: 2530907 bytes, checksum: 92f57eab928af3037139c23e4ce43fd2 (MD5)","Made available in DSpace on 2013-08-22T16:36:58Z (GMT). No. of bitstreams: 2 Richard_Rekoske.pdf: 2530907 bytes, checksum: 92f57eab928af3037139c23e4ce43fd2 (MD5) license.txt: 4065 bytes, checksum: db39b4e1917eb4f540e1785ca0171df2 (MD5)"]},{"key":"dc:title","label":"Title","values":["Implementation of safe and reliable coverage control for multiple mobile robots"]}]}],"canonical_facts":{"dc:contributor":["Stipanović, Dušan M."],"dc:creator":["Rekoske, Richard"],"dc:date":["2013-08-22T16:36:58Z","2013-08"],"dc:description":["This thesis presents some results relating 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 system of robots. The control laws were merged to provide coverage using the system while guaranteeing inter-agent proximity, inter-agent collision avoidance, and agent-environment collision avoidance. Circular regions were considered for avoidance. The performance and limitation of the application are examined. Practical considerations for implementation are discussed. The experimental platform consisted of a motion capture system, three differential drive robots with multiple sensing capabilities, and two supporting computers for the motion capture system and data visualization.","Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2013-07-05T15:08:45Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Rekoske_Richard.pdf: 2530907 bytes, checksum: 92f57eab928af3037139c23e4ce43fd2 (MD5)","Made available in DSpace on 2013-08-22T16:36:58Z (GMT). No. of bitstreams: 2 Richard_Rekoske.pdf: 2530907 bytes, checksum: 92f57eab928af3037139c23e4ce43fd2 (MD5) license.txt: 4065 bytes, checksum: db39b4e1917eb4f540e1785ca0171df2 (MD5)"],"dc:identifier":["http://hdl.handle.net/2142/45334"],"dc:language":["en"],"dc:rights":["Copyright 2013 Richard Rekoske"],"dc:subject":["Coverage Control","Implementation","Optitrack","Motion Capture System","OMAPL138","Avoidance Control","Proximity Control","Kalman Filter","Multiple Agents","Multi-objective"],"dc:title":["Implementation of safe and reliable coverage control for multiple mobile robots"],"dc:type":["text"],"thesis:degree_discipline":["Systems & Entrepreneurial Engr"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:34Z"}