Multi-robot assignment and formation control

dc.contributor.advisor Egerstedt, Magnus B.
dc.contributor.author Macdonald, Edward A. en_US
dc.contributor.committeeMember Howard, Ayanna
dc.contributor.committeeMember Shamma, Jeff
dc.contributor.department Electrical and Computer Engineering en_US
dc.date.accessioned 2011-09-22T17:51:50Z
dc.date.available 2011-09-22T17:51:50Z
dc.date.issued 2011-07-08 en_US
dc.description.abstract Our research focuses on one of the more fundamental issues in multi-agent, mobile robotics: the formation control problem. The idea is to create controllers that cause robots to move into a predefined formation shape. This is a well studied problem for the scenario in which the robots know in advance to which point in the formation they are assigned. In our case, we assume this information is not given in advance, but must be determined dynamically. This thesis presents an algorithm that can be used by a network of mobile robots to simultaneously determine efficient robot assignments and formation pose for rotationally and translationally invariant formations. This allows simultaneous role assignment and formation sysnthesis without the need for additional control laws. The thesis begins by introducing some general concepts regarding multi-agent robotics. Next, previous work and background information specific to the formation control and assignment problems are reviewed. Then the proposed assignment al- gorithm for role assignment and formation control is introduced and its theoretical properties are examined. This is followed by a discussion of simulation results. Lastly, experimental results are presented based on the implementation of the assignment al- gorithm on actual robots. en_US
dc.description.degree M.S. en_US
dc.identifier.uri http://hdl.handle.net/1853/41200
dc.publisher Georgia Institute of Technology en_US
dc.subject Multi-robot en_US
dc.subject Formation control en_US
dc.subject Hungarian algorithm en_US
dc.subject Consensus en_US
dc.subject Assignment en_US
dc.subject.lcsh Multiagent systems
dc.subject.lcsh Robots Control systems
dc.subject.lcsh Mobile robots
dc.subject.lcsh Algorithms
dc.title Multi-robot assignment and formation control en_US
dc.type Text
dc.type.genre Thesis
dspace.entity.type Publication
local.contributor.advisor Egerstedt, Magnus B.
local.contributor.author Egerstedt, Magnus B.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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