Date of Award:
12-2008
Document Type:
Thesis
Degree Name:
Master of Science (MS)
Department:
Electrical and Computer Engineering
Committee Chair(s)
Wei Ren
Committee
Wei Ren
Committee
YangQuan Chen
Committee
Jacob Gunther
Abstract
Consensus control algorithms for multi-agent systems are an area of much research. Several consensus control laws are experimentally validated on a multi-robot testbed in this thesis. A graphical user interface (GUI) is developed that simplies use of the testbed, as well as allows the execution of the testbed programs to be divided across multiple computers. This not only provides a more powerful computing environment, but a more realistic communication environment for the testbed. A method for a time varying or dynamic formation is both proposed and experimentally validated on the testbed. This research also explores a method for dynamic group resizing, i.e. addition or removal of members of the formation. Also, a new control law for synchronized oscillations is validated. Finally, a testbed for multiple cooperative Unmanned Air Vehicles (UAV) is developed for the Procerus UAV.
Checksum
6b8f3dc129eaf00fb4647ed72b40d2d8
Recommended Citation
Ballard, Larry Dale, "Experiments in Distributed Multi-Robot Coordination" (2008). All Graduate Theses and Dissertations, Spring 1920 to Summer 2023. 169.
https://digitalcommons.usu.edu/etd/169
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