Please use this identifier to cite or link to this item: http://repositorio.inesctec.pt/handle/123456789/2688
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dc.contributor.authorTiago Pereira Nascimentoen
dc.date.accessioned2017-11-16T13:59:50Z-
dc.date.available2017-11-16T13:59:50Z-
dc.date.issued2012en
dc.identifier.urihttp://repositorio.inesctec.pt/handle/123456789/2688-
dc.description.abstractmulti-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.en
dc.languageengen
dc.relation5257en
dc.rightsinfo:eu-repo/semantics/openAccessen
dc.titleCOORDINATED MULTI-ROBOT FORMATION CONTROLen
dc.typedoctoralThesisen
dc.typePublicationen
Appears in Collections:CRIIS - PhD Theses

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