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A Continuum Framework and Homogeneou...

Rastgoftar, Hossein.

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A Continuum Framework and Homogeneous Map Based Algorithms for Formation Control of Multi Agent Systems.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	A Continuum Framework and Homogeneous Map Based Algorithms for Formation Control of Multi Agent Systems./
作者:	Rastgoftar, Hossein.
面頁冊數:	228 p.
附註:	Source: Dissertation Abstracts International, Volume: 76-08(E), Section: B.
Contained By:	Dissertation Abstracts International76-08B(E).
標題:	Mechanical engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3689242
ISBN:	9781321683714

A Continuum Framework and Homogeneous Map Based Algorithms for Formation Control of Multi Agent Systems.
Rastgoftar, Hossein.

A Continuum Framework and Homogeneous Map Based Algorithms for Formation Control of Multi Agent Systems. - 228 p.

Source: Dissertation Abstracts International, Volume: 76-08(E), Section: B.

Thesis (Ph.D.)--Drexel University, 2015.

This item is not available from ProQuest Dissertations & Theses.

In this dissertation, new algorithms for formation control of multi agent systems (MAS) based on continuum mechanics principles will be suggested. For this purpose, agents of the MAS are considered as particles in a continuum, evolving in Rn, whose desired configuration is required to satisfy an admissible deformation function. Considered is a specific class of mappings that are called homogenous where the Jacobian of the mapping is only a function of time and is not spatially varying. The primary objectives of this dissertation are to develop the necessary theory and its validation on a mobile-agent based swarm test bed that includes two primary tasks: 1) homogenous transformation of MAS and 2) deployment of a random distribution of agents on a desired configuration. Developed will be a framework based on homogenous transformations for the evolution of an MAS in an n-dimensional space (n=1,2, and 3), under1) no inter-agent communication (predefined motion plan), 2) local inter-agent communication, and 3) intelligent perception by agents. In this dissertation, different communication protocols for MAS evolution that are based on certain special features of a homogenous transformation will be developed. It is also aimed to deal with the robustness of tracking of a desired motion by an MAS evolving in Rn. Furthermore, the effect of communication delays in an MAS evolving under consensus algorithms or homogenous maps is investigated. In this regard, the maximum allowable communication delay for MAS evolution is formulated on the basis of eigen-analysis.

ISBN: 9781321683714Subjects--Topical Terms:

649730
Mechanical engineering.

A Continuum Framework and Homogeneous Map Based Algorithms for Formation Control of Multi Agent Systems.
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