Securing and Maneuvering Heterogeneous Mobile Robot Formations: Distributed Control Design and Stability Analysis

Nelson Chan

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Samenvatting

This thesis focuses on securing and maneuvering geometrical shapes for a group of mobile robots.
Each robot within the group has access to partial information about the desired geometrical shape, e.g. a triangle.
This information may be a relative distance or orientation with respect to some other robot(s).
The locally available information is translated to taks assigned to each robot.
We design rules for the robots in order for them to fulfill the assigned tasks.
We are interested in studying what the feasible shapes are that the group of mobile robots can achieve based on the rules we have designed for the robots.
After identifying these shapes we perform analyses to infer whether the group can indeed morph itself to obtain these shapes.
If the feasible shape is the desired one, we would like the robots to form this shape, while we would prevent robots to achieve an incorrect shape.
We have also considered maneuvering the group of robots while they achieve a desired shape.
During transition they may encounter obstacles and our goal is to design decision rules so they can avoid these obstacles and carry out the assignment successfully.
Originele taal-2English
KwalificatieDoctor of Philosophy
Toekennende instantie
  • Rijksuniversiteit Groningen
Begeleider(s)/adviseur
  • Jayawardhana, Bayu, Supervisor
  • Scherpen, Jacqueline, Supervisor
Datum van toekenning9-jul-2021
Plaats van publicatie[Groningen]
Uitgever
DOI's
StatusPublished - 2021

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