This thesis addresses several theoretical and practical problems related to formation-control of autonomous robots. Formation-control aims to simultaneously accomplish the tasks of forming a desired shape by the robots and controlling their coordinated collective motion. This kind of robot performance is a cornerstone in the emerging field of swarm robotics, in particular with applications in precision agriculture, coverage of sport/art events, communication networks, area surveillance or vehicle platooning for energy efficiency and many others. One of the most important outcomes of this thesis is that the provided algorithms are completely distributed. This means that there is no central unit commanding the robots, but they have their own intelligence which allows them to make their own decisions based only on the local information. A distributed scheme entails a striking feature about the scalability and maintenance of a team of robots. Moreover, we also address the scenario of having wrongly calibrated sensors, which has a profound impact in the performance of the robots. The provided algorithms make the robots robust against such a practical and very common problem in real applications.


    Access

    Download


    Export, share and cite



    Title :

    Distributed formation control for autonomous robots



    Publication date :

    2016-01-01


    Remarks:

    Garcia de Marina Peinado , H J 2016 , ' Distributed formation control for autonomous robots ' , Doctor of Philosophy , University of Groningen , [Groningen] .


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    Distributed Coordination of a Set of Autonomous Mobile Robots

    Flocchini, P. / Prencipe, G. / Santoro, N. et al. | British Library Conference Proceedings | 2000


    Distributed coordination of a set of autonomous mobile robots

    Flocchini, P. / Prencipe, G. / Santoro, N. et al. | IEEE | 2000



    The control of semi-autonomous robots

    McPhillips, Graeme | BASE | 2004

    Free access

    Task-level control for autonomous robots

    Simmons, Reid | NTRS | 1994