Please use this identifier to cite or link to this item: http://repositorio.inesctec.pt/handle/123456789/2688
Title: COORDINATED MULTI-ROBOT FORMATION CONTROL
Authors: Tiago Pereira Nascimento
Issue Date: 2012
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.
URI: http://repositorio.inesctec.pt/handle/123456789/2688
metadata.dc.type: doctoralThesis
Publication
Appears in Collections:CRIIS - PhD Theses

Files in This Item:
File Description SizeFormat 
PS-08013.pdf6.07 MBAdobe PDFView/Open


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.