1.
Glotfelter, Paul.
Specification composition and controller synthesis for robotic systems.
Degree: PhD, Electrical and Computer Engineering, 2019, Georgia Tech
URL: http://hdl.handle.net/1853/61238 
From precision agriculture to autonomous-transportation systems, robotic systems have been proposed to accomplish a number of tasks. However, these systems typically require satisfaction of multiple constraints, such as safety or connectivity maintenance, while completing their primary objectives. The objective of this thesis is to endow robotic systems with a Boolean-composition and controller-synthesis framework for specifications of objectives and constraints. Barrier functions represent one method to enforce such constraints via forward set invariance, and Lyapunov functions offer a similar guarantee for set stability. This thesis focuses on building a system of Boolean logic for barrier and Lyapunov functions by using min and max operators. As these objects inherently introduce nonsmoothness, this thesis extends the theory on barrier functions to nonsmooth barrier functions and, subsequently, to controlled systems via control nonsmooth barrier functions. However, synthesizing controllers with respect to a nonsmooth function may create discontinuities; as such, this thesis develops a controller-synthesis framework that, despite creating discontinuities, still produces valid controllers (i.e., ones that satisfy the objectives and constraints). These developments have been successfully applied to a variety of robotic systems, including remotely accessible testbeds, autonomous-transportation scenarios, and leader-follower systems.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Cortes, Jorge (committee member), Rogers, Jonathan (committee member), Hutchinson, Seth (committee member), Coogan, Samuel (committee member).Subjects/Keywords: Boolean composition; Nonsmooth analysis; Differential inclusions; Multi-robot systems; Robotic systems; Collision avoidance; Leader follower
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APA (6th Edition):
Glotfelter, P. (2019). Specification composition and controller synthesis for robotic systems. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/61238
Chicago Manual of Style (16th Edition):
Glotfelter, Paul. “Specification composition and controller synthesis for robotic systems.” 2019. Doctoral Dissertation, Georgia Tech. Accessed March 06, 2021.
http://hdl.handle.net/1853/61238.
MLA Handbook (7th Edition):
Glotfelter, Paul. “Specification composition and controller synthesis for robotic systems.” 2019. Web. 06 Mar 2021.
Vancouver:
Glotfelter P. Specification composition and controller synthesis for robotic systems. [Internet] [Doctoral dissertation]. Georgia Tech; 2019. [cited 2021 Mar 06].
Available from: http://hdl.handle.net/1853/61238.
Council of Science Editors:
Glotfelter P. Specification composition and controller synthesis for robotic systems. [Doctoral Dissertation]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/61238
2.
Jaleel, Hassan.
Power-aware control strategies in wireless sensor networks.
Degree: PhD, Electrical and Computer Engineering, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/50390
As the trends towards decentralization, miniaturization, and longevity of deployment continue in many domains, power management has become increasingly important. In this work, we develop power-aware control strategies for wireless sensor networks to improve the lifetime of the network and to ensure that the desired performance is guaranteed. For the case of static networks (networks of agents with no mobility), we identify the problem of the effects of power variations on the performance of an individual sensing device and on the entire network. To address this problem in a randomly deployed sensor network comprising of sensing devices whose sensing range is a function of transmitted power, we propose power-aware controllers to compensate for the variations in available power and maintain desired performance. We also propose a novel energy-efficient sleep-scheduling scheme that is random in nature and allows limited coordination among neighboring sensors for making switching decisions. This scheme is based on the concept of a hard-core point process from stochastic geometry, in which neighboring points are allowed to interact with each other through some predefined interaction laws. For the case of mobile networks (networks of agents with mobility), we propose a solid framework for distributed power-aware mobility strategies that can achieve any desired global objective while minimizing total energy consumption. This goal is achieved by first exploring fundamental trade-offs among various modes of operations of mobile devices and then exploiting these trade-offs for minimizing energy consumption. Through this framework, a whole class of decentralized power-aware controllers emerge for solving canonical problems in multi-agent systems like connectivity maintenance, rendezvous, and coverage control.
Advisors/Committee Members: Egerstedt, Magnus B. (advisor), Wardi, Yorai (committee member), Zhang, Fumin (committee member), Blough, Douglas M. (committee member), Cortes, Jorge (committee member).Subjects/Keywords: Networked control systems; Wireless sensor networks; Stochastic geometry; Wireless sensor networks; Control theory; Energy consumption; Energy conservation
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Record Details
Similar Records
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Jaleel, H. (2013). Power-aware control strategies in wireless sensor networks. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50390
Chicago Manual of Style (16th Edition):
Jaleel, Hassan. “Power-aware control strategies in wireless sensor networks.” 2013. Doctoral Dissertation, Georgia Tech. Accessed March 06, 2021.
http://hdl.handle.net/1853/50390.
MLA Handbook (7th Edition):
Jaleel, Hassan. “Power-aware control strategies in wireless sensor networks.” 2013. Web. 06 Mar 2021.
Vancouver:
Jaleel H. Power-aware control strategies in wireless sensor networks. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2021 Mar 06].
Available from: http://hdl.handle.net/1853/50390.
Council of Science Editors:
Jaleel H. Power-aware control strategies in wireless sensor networks. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50390
Open Access Theses and Dissertations
