Multi-robot assignment and formation control

Macdonald, Edward A.

Title:

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)
relation.isAdvisorOfPublication	dd4872d3-2e0d-435d-861d-a61559d2bcb6
relation.isAuthorOfPublication	dd4872d3-2e0d-435d-861d-a61559d2bcb6
relation.isOrgUnitOfPublication	5b7adef2-447c-4270-b9fc-846bd76f80f2
relation.isOrgUnitOfPublication	7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication	66259949-abfd-45c2-9dcc-5a6f2c013bcf