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|Title:||COORDINATED MULTI-ROBOT FORMATION CONTROL|
|Authors:||Tiago Pereira Nascimento|
|Abstract:||multi-robot system is formed when a group of robots interact with the environment as a single system. This system can also be in formation in order to accomplish tasks rather difficult or impossible to achieve with a single robot. This work presents results for a doctoral thesis research aiming the formation control of a mobile robot group in the active target tracking problem. All robots exchange information about their position (localization) in the world frame, and the target position and velocity forming a distributed system. Therefore, the main objective of this work is to search and track a target minimizing the total amount of uncertainty in the target's observation, avoiding mates and obstacles, and obeying the characteristics imposed to the formation. A nonlinear model predictive controller was proposed in order to deal with the active target tracking problem through the formation of a multi-robot system.|
|Appears in Collections:||CRIIS - PhD Theses|
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