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Autonomous Re-Configuration of Multi-Agent Formation In the Presence of a New Agent

Perez Chaher, Mariano (2018) Autonomous Re-Configuration of Multi-Agent Formation In the Presence of a New Agent. Integration Project, Industrial Engineering and Management.


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Formation control has developed over the last years to accommodate robotic agents to complete increasingly complex tasks. A studied approach for flexible robot formations is that of distributed control, consisting of decentralized data processing of agents, allowing all agents to remain in formation without a global frame of reference and no communication between agents. This thesis sets to create an algorithm that allows an existing formation to add and extract agents during operation to make the system distributedly dynamic. A revolving LIDAR scanner is taken as the only sensing tool for the agents, providing an all-around point cloud of their environment. Finally, after covering the working of the algorithm, tests are performed through simulations of seven robots and real-life applications on four robots.

Item Type: Thesis (Integration Project)
Supervisor name: Jayawardhana, B. and Munoz Arias, M.
Degree programme: Industrial Engineering and Management
Thesis type: Integration Project
Language: English
Date Deposited: 06 Jul 2018
Last Modified: 13 Jul 2018 07:13

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