{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/81023"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/81023","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Reliable *Control of Multi-Agent *Systems","abstract":"In this dissertation we propose semiautonomous and autonomous solutions to multi-agent problems. We first utilize the concept of input-to-state stability 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 teleoperation. Then, we address the problem of collision avoidance in multi-agent systems using the concept of avoidance control, which provides provable guarantees for collision-free maneuvers. We show how these two approaches can be combined to render a viable solution to searchand-rescue type missions. Finally, we propose an algorithmic and autonomous solution to the dynamic coverage and persistent coverage control problems and derive some bounds that characterize the performance of these algorithms with respect to completion time and communication demands.","abstract_html":"In this dissertation we propose semiautonomous and autonomous solutions to multi-agent problems. We first utilize the concept of input-to-state stability 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 teleoperation. Then, we address the problem of collision avoidance in multi-agent systems using the concept of avoidance control, which provides provable guarantees for collision-free maneuvers. We show how these two approaches can be combined to render a viable solution to searchand-rescue type missions. Finally, we propose an algorithmic and autonomous solution to the dynamic coverage and persistent coverage control problems and derive some bounds that characterize the performance of these algorithms with respect to completion time and communication demands.","abstract_has_math":false,"creators":["Al Hokayem, Peter Farid"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Electrical and Computer Engineering","degree_department":null,"school":null,"contributors":["Spong, Mark W."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-25T20:09:16Z","date_published":"2015-09-25T20:09:16Z","updated_at":"2026-07-22T22:26:15Z","subjects":["Engineering, Electronics and Electrical"],"languages":["eng"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(MiAaPQ)AAI3290164"],"render_values":[{"text":"(MiAaPQ)AAI3290164","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/81023","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Spong, Mark W."]},{"key":"dc:creator","label":"Author","values":["Al Hokayem, Peter Farid"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-25T20:09:16Z","10000-01-01","2007"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical and Computer Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"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":["Engineering, Electronics and Electrical"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/81023","(MiAaPQ)AAI3290164"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["In this dissertation we propose semiautonomous and autonomous solutions to multi-agent problems. 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We first utilize the concept of input-to-state stability 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 teleoperation. Then, we address the problem of collision avoidance in multi-agent systems using the concept of avoidance control, which provides provable guarantees for collision-free maneuvers. We show how these two approaches can be combined to render a viable solution to searchand-rescue type missions. Finally, we propose an algorithmic and autonomous solution to the dynamic coverage and persistent coverage control problems and derive some bounds that characterize the performance of these algorithms with respect to completion time and communication demands.","Made available in DSpace on 2015-09-25T20:09:16Z (GMT). No. of bitstreams: 2 license.txt: 4848 bytes, checksum: 96035ab3f5e1c23cc7138a224ce498bd (MD5) 3290164.pdf: 3020959 bytes, checksum: a08c9154d7b08516e2bdd28b18af3ec4 (MD5) Previous issue date: 2007","Embargo set by: Seth Robbins for item 82305 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","111 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2007."],"dc:identifier":["http://hdl.handle.net/2142/81023","(MiAaPQ)AAI3290164"],"dc:language":["eng"],"dc:subject":["Engineering, Electronics and Electrical"],"dc:title":["Reliable *Control of Multi-Agent *Systems"],"dc:type":["text"],"thesis:degree_discipline":["Electrical and Computer Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:26:15Z"}