Kuik, Laurah (2019) Distributed Formation Control of Multi-Agent Systems Using Feature Measurements. Research Project, Industrial Engineering and Management.
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Abstract
A fundamental problem in formation control is the complexity and amount of data involved with the interactions necessary for achieving and maintaining a formation. As a result, costly hardware is required to support the data. To minimize this, cheap sensing methods should be used. Currently, a formation control strategy, called feature-based control, is studied at the University of Groningen. This formation control approach promises to be less expensive and more accessible than most types of control strategies. The goal of this research is to design and validate a distributed formation controller using feature-based control that can be implemented on the NEXUS robots. In feature-based control, the agent senses two features of its neighbour agent(s) in order to control its linear velocity. In this thesis, the features are visual markers placed on the left and right side of the agents. Each agent is equipped with a sensor that is able to detect the markers and measure the relative bearing of the vectors pointing from the sensor to the markers. In this research, stability analysis is provided to determine the performance of a formation controller that uses feature-based measurements.
| Item Type: | Thesis (Research Project) |
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| Supervisor name: | Jayawardhana, B. and Cao, M. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Research Project |
| Language: | English |
| Date Deposited: | 07 Apr 2019 |
| Last Modified: | 09 Apr 2019 10:14 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/19338 |
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