Reliable *Control of Multi-Agent *Systems

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.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Al Hokayem, Peter Farid

Contributors dc:contributor

• Spong, Mark W.

• Engineering, Electronics and Electrical

Language dc:language

eng

Identifier

(MiAaPQ)AAI3290164

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/81023