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Distributed Coordination Theory for ...

Roza, Ashton.

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Distributed Coordination Theory for Ground and Aerial Robot Teams.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Distributed Coordination Theory for Ground and Aerial Robot Teams./
作者:	Roza, Ashton.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2019,
面頁冊數:	273 p.
附註:	Source: Dissertations Abstracts International, Volume: 81-04, Section: B.
Contained By:	Dissertations Abstracts International81-04B.
標題:	Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=13428577
ISBN:	9781085787376

Distributed Coordination Theory for Ground and Aerial Robot Teams.
Roza, Ashton.

Distributed Coordination Theory for Ground and Aerial Robot Teams. - Ann Arbor : ProQuest Dissertations & Theses, 2019 - 273 p.

Source: Dissertations Abstracts International, Volume: 81-04, Section: B.

Thesis (Ph.D.)--University of Toronto (Canada), 2019.

This item must not be sold to any third party vendors.

This thesis investigates distributed coordination problems for two important classes of robots. One class corresponds to ground-based mobile robots, each modelled as a kinematic unicycle. The second corresponds to flying robots, each propelled by a thrust vector and endowed with an actuation mechanism producing torques about three orthogonal body axes. The following coordination problems are studied in this thesis: rendezvous, formation control, linear and circular formation flocking and formation path following. For rendezvous of kinematic unicycles, a smooth, time-independent control law is presented that drives the unicycles to a common position from arbitrary initial conditions, under the assumption that the sensing digraph is time-invariant and contains a globally reachable node. The proposed feedback is very simple and is local and distributed. For rendezvous of flying robots, a control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood of one another. The convergence is global, and each vehicle can compute its own control input using local and distributed feedback.For formation control, the objective is to make an ensemble of kinematic unicycles achieve pre-defined inter-agent spacings with parallel heading angles. We consider scenarios where the formation either stops or moves with a final collective motion. In the latter case, problems of linear and circular formation flocking and formation path following are studied. A control law is presented in each case that solves the problem for almost all initial conditions. For stopping and flocking formations, the proposed control laws are local and distributed while for formation path following, the control laws additionally require each agent to measure its displacement from the path. The idea used to solve the formation control problems is to rigidly attach an offset vector to the body frame of each unicycle. It is shown that stabilizing the desired formation amounts to achieving consensus of the endpoints of the offset vectors, and simultaneously synchronizing the unicycles' heading angles. Extension of formation control to flying robots using strictly local and distributed feedback is not addressed in this work and remains a challenging open problem.

ISBN: 9781085787376Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

Autonomous robotics

Distributed Coordination Theory for Ground and Aerial Robot Teams.
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520 $a This thesis investigates distributed coordination problems for two important classes of robots. One class corresponds to ground-based mobile robots, each modelled as a kinematic unicycle. The second corresponds to flying robots, each propelled by a thrust vector and endowed with an actuation mechanism producing torques about three orthogonal body axes. The following coordination problems are studied in this thesis: rendezvous, formation control, linear and circular formation flocking and formation path following. For rendezvous of kinematic unicycles, a smooth, time-independent control law is presented that drives the unicycles to a common position from arbitrary initial conditions, under the assumption that the sensing digraph is time-invariant and contains a globally reachable node. The proposed feedback is very simple and is local and distributed. For rendezvous of flying robots, a control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood of one another. The convergence is global, and each vehicle can compute its own control input using local and distributed feedback.For formation control, the objective is to make an ensemble of kinematic unicycles achieve pre-defined inter-agent spacings with parallel heading angles. We consider scenarios where the formation either stops or moves with a final collective motion. In the latter case, problems of linear and circular formation flocking and formation path following are studied. A control law is presented in each case that solves the problem for almost all initial conditions. For stopping and flocking formations, the proposed control laws are local and distributed while for formation path following, the control laws additionally require each agent to measure its displacement from the path. The idea used to solve the formation control problems is to rigidly attach an offset vector to the body frame of each unicycle. It is shown that stabilizing the desired formation amounts to achieving consensus of the endpoints of the offset vectors, and simultaneously synchronizing the unicycles' heading angles. Extension of formation control to flying robots using strictly local and distributed feedback is not addressed in this work and remains a challenging open problem.
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