subject:(Cooperative control)

1. Knorn, Florian. Topics in Cooperative Control.

Degree: 2011, RIAN

URL: http://eprints.maynoothuniversity.ie/2776/

► The main themes of this thesis are networked dynamic systems and related cooperative control problems. We shall contribute a number of technical results to the… (more)

▼ The main themes of this thesis are networked dynamic systems and related cooperative control problems. We shall contribute a number of technical results to the stability theory of switched positive systems, and present a new cooperative control paradigm that leads to several cooperative control schemes which allow multi-agent systems to achieve a common goal while, at the same time, satisfying certain local constraints. In this context, we also discuss a number of practical applications for our results. On a very abstract level, we first investigate the stability of an unforced dynamic system or network that switches between different configurations. Next, a control input is included to regulate the aggregate behaviour of the network. Lastly, looking at a particular instance of this problem setting, an estimation component is added to the mix. To be more specific, we first derive a number of necessary and sufficient, easily verifiable conditions for the existence of common co-positive linear Lyapunov functions for switched positive linear systems. This is particularly useful given the classic result that, roughly, existence of such functions is sufficient for exponential stability of the switched system under arbitrary switching. Such switched systems may represent a networked dynamic system that switches between different configurations. Next, we develop several cooperative control schemes for networked, dynamic multi- agent systems. Several decentralised algorithms are devised that allow the network to achieve what may be called implicit, constrained consensus: Constrained in the sense that the aggregate behaviour of the network (assumed to be a function of the totality of its states) should assume a prescribed value; implicit in the sense that the consensus is not to be reached on the states directly, but on values that are a function of the states. This can be used to assure inter-agent fairness in some sense, which makes this result relevant to a large class of real-world problems. Initially, three algorithms will be given that work in a variety of settings, including non-linear and uncertain settings, time-changing and asymmetric network topologies, as well as asynchronous state updates. For these results, the general assumption is that the aggregate behaviour of the network is made accessible to each node so that it can be incorporated into the control algorithm. Then, a somewhat more specific application is addressed, namely (algebraic) connec- tivity control in wireless networks. This is a setting where the aggregate behaviour (the network’s connectivity level, roughly an algebraic measure of how well information can flow through the network) has to be estimated first before it can be regulated. To that end, a fully decentralised scheme is developed that allows the connectivity level to be estimated locally in each node. This estimate is then used to inform a decentralised scheme to adjust the nodes’ interconnections in order to drive the network to the desired connectivity level. Finally, three further…

Subjects/Keywords: Hamilton Institute; Cooperative Control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Knorn, F. (2011). Topics in Cooperative Control. (Thesis). RIAN. Retrieved from http://eprints.maynoothuniversity.ie/2776/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Knorn, Florian. “Topics in Cooperative Control.” 2011. Thesis, RIAN. Accessed January 19, 2021. http://eprints.maynoothuniversity.ie/2776/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Knorn, Florian. “Topics in Cooperative Control.” 2011. Web. 19 Jan 2021.

Vancouver:

Knorn F. Topics in Cooperative Control. [Internet] [Thesis]. RIAN; 2011. [cited 2021 Jan 19]. Available from: http://eprints.maynoothuniversity.ie/2776/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Knorn F. Topics in Cooperative Control. [Thesis]. RIAN; 2011. Available from: http://eprints.maynoothuniversity.ie/2776/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

2. Knorn, Florian. Topics in Cooperative Control.

Degree: 2011, RIAN

URL: http://mural.maynoothuniversity.ie/2776/

► The main themes of this thesis are networked dynamic systems and related cooperative control problems. We shall contribute a number of technical results to the… (more)

▼ The main themes of this thesis are networked dynamic systems and related cooperative control problems. We shall contribute a number of technical results to the stability theory of switched positive systems, and present a new cooperative control paradigm that leads to several cooperative control schemes which allow multi-agent systems to achieve a common goal while, at the same time, satisfying certain local constraints. In this context, we also discuss a number of practical applications for our results. On a very abstract level, we first investigate the stability of an unforced dynamic system or network that switches between different configurations. Next, a control input is included to regulate the aggregate behaviour of the network. Lastly, looking at a particular instance of this problem setting, an estimation component is added to the mix. To be more specific, we first derive a number of necessary and sufficient, easily verifiable conditions for the existence of common co-positive linear Lyapunov functions for switched positive linear systems. This is particularly useful given the classic result that, roughly, existence of such functions is sufficient for exponential stability of the switched system under arbitrary switching. Such switched systems may represent a networked dynamic system that switches between different configurations. Next, we develop several cooperative control schemes for networked, dynamic multi- agent systems. Several decentralised algorithms are devised that allow the network to achieve what may be called implicit, constrained consensus: Constrained in the sense that the aggregate behaviour of the network (assumed to be a function of the totality of its states) should assume a prescribed value; implicit in the sense that the consensus is not to be reached on the states directly, but on values that are a function of the states. This can be used to assure inter-agent fairness in some sense, which makes this result relevant to a large class of real-world problems. Initially, three algorithms will be given that work in a variety of settings, including non-linear and uncertain settings, time-changing and asymmetric network topologies, as well as asynchronous state updates. For these results, the general assumption is that the aggregate behaviour of the network is made accessible to each node so that it can be incorporated into the control algorithm. Then, a somewhat more specific application is addressed, namely (algebraic) connec- tivity control in wireless networks. This is a setting where the aggregate behaviour (the network’s connectivity level, roughly an algebraic measure of how well information can flow through the network) has to be estimated first before it can be regulated. To that end, a fully decentralised scheme is developed that allows the connectivity level to be estimated locally in each node. This estimate is then used to inform a decentralised scheme to adjust the nodes’ interconnections in order to drive the network to the desired connectivity level. Finally, three further…

Subjects/Keywords: Hamilton Institute; Cooperative Control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Knorn, F. (2011). Topics in Cooperative Control. (Thesis). RIAN. Retrieved from http://mural.maynoothuniversity.ie/2776/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Knorn, Florian. “Topics in Cooperative Control.” 2011. Thesis, RIAN. Accessed January 19, 2021. http://mural.maynoothuniversity.ie/2776/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Knorn, Florian. “Topics in Cooperative Control.” 2011. Web. 19 Jan 2021.

Vancouver:

Knorn F. Topics in Cooperative Control. [Internet] [Thesis]. RIAN; 2011. [cited 2021 Jan 19]. Available from: http://mural.maynoothuniversity.ie/2776/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Knorn F. Topics in Cooperative Control. [Thesis]. RIAN; 2011. Available from: http://mural.maynoothuniversity.ie/2776/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Georgia Tech

3. Volle, Kyle. Cooperative control methods for the weapon target assignment problem.

Degree: PhD, Mechanical Engineering, 2018, Georgia Tech

URL: http://hdl.handle.net/1853/61117

► Weapon target assignment (WTA) is a combinatorial optimization problem in which a set of weapons must selectively engage a set of targets in order to… (more)

▼ Weapon target assignment (WTA) is a combinatorial optimization problem in which a set of weapons must selectively engage a set of targets in order to minimize the expected survival value of the targets. In its distributed form, it is also an important problem in autonomous, multi-agent robotics. In this work, distributed methods are explored for a modified weapon target assignment problem in which weapons seek to achieve a specified probability of kill on each target. Three novel cost functions are proposed which, in cases with low agent-to-target ratios, induce behaviors which may be preferable to the behaviors induced by classical cost functions. The performance of these proposed cost functions is explored in simulation of both homogeneous and heterogeneous engagement scenarios using, as an example, airborne autonomous weapons. Simulation results demonstrate that the proposed cost functions achieve the specified desired behaviors in cases with low agent-to-target ratios where efficient use of weapons is particularly important. Additionally, a multi-objective version of the WTA problem is considered in which the quality of an assignment is dependent on both the total effectiveness of the weapons assigned to each target, and the relative timing of agents' arrival at their targets. Such timing constraints may be important in real-world scenarios where a mission planner wishes to enforce an element of surprise on each target. A fourth cost function is presented which couples weapon effectiveness and timing metrics into a combined cost. In cases where weapon-target closing speeds are limited to a certain range, this combined cost allows the inclusion of arrival time constraints in the assignment decision process. The performance of this new cost function is demonstrated through theoretical analysis and simulation. Results show that the proposed cost function balances the dual goals of optimizing effectiveness and arrival time considerations under closing speed limitations, and that a user-defined tuning parameter can be used to adjust the priority of the dual goals of sequenced arrival and achieving the desired probability of kill. Advisors/Committee Members: Rogers, Jonathan (advisor), Egerstedt, Magnus (committee member), Hammond, Frank (committee member), Johnson, Eric (committee member), Brink, Kevin (committee member).

Subjects/Keywords: Weapon target assignment; Cooperative control

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APA (6^th Edition):

Volle, K. (2018). Cooperative control methods for the weapon target assignment problem. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/61117

Chicago Manual of Style (16^th Edition):

Volle, Kyle. “Cooperative control methods for the weapon target assignment problem.” 2018. Doctoral Dissertation, Georgia Tech. Accessed January 19, 2021. http://hdl.handle.net/1853/61117.

MLA Handbook (7^th Edition):

Volle, Kyle. “Cooperative control methods for the weapon target assignment problem.” 2018. Web. 19 Jan 2021.

Vancouver:

Volle K. Cooperative control methods for the weapon target assignment problem. [Internet] [Doctoral dissertation]. Georgia Tech; 2018. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/1853/61117.

Council of Science Editors:

Volle K. Cooperative control methods for the weapon target assignment problem. [Doctoral Dissertation]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/61117

University of New South Wales

4. Cheng, Haoyang. Behaviour-based decentralised cooperative control for unmanned systems.

Degree: Mechanical & Manufacturing Engineering, 2013, University of New South Wales

URL: http://handle.unsw.edu.au/1959.4/53325 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:12020/SOURCE02?view=true

► The study of swarm intelligence has provided researchers with powerful tools to apply biological inspired problem solving techniques to the cooperative control of multi-agent systems.… (more)

▼ The study of swarm intelligence has provided researchers with powerful tools to apply biological inspired problem solving techniques to the cooperative control of multi-agent systems. The coordination mechanism based on interactions among the lower lever components makes the solution more flexible, robust, adaptive and scalable when compared to a centralised approach. The previous research that applied swarm methodology was limited to relative simple scenarios. The objective of this thesis is twofold: first, to explore the feasibility of using a decentralised framework to coordinate a group of agents in complex mission scenarios; and second, to identify the areas of development that can have the maximum impact on the performance of the swarm. The primary contribution of this research is the development and analysis of a behaviour-based cooperative controller for unmanned systems. In the cooperative moving target engagement problem, the proposed controller enables each Unmanned Aerial Vehicle (UAV) to switch between multiple behaviour states, each of which contains a set of rules. The rules control the agent level interactions through the combination of direct interaction and indirect interaction and assign the UAVs to time-dependant cooperative tasks. The simulation results that are presented demonstrate the applicability of the method and indicate that the performance depends on the complexity of the coupled task constraints. A predictive model was then integrated into the controller to let the agents estimate the intentions of their neighbours and choose activities which enhance the overall team utility. Additionally the same methodology is used to address the problem of repositioning a spacecraft within a swarm in order to balance the fuel consumption of the individual spacecraft. The proposed controller guides the spacecraft in the high-fuel-consumption positions to switch with those in the low-fuel consumption positions. The coordination is driven by the local environment without explicit external communication. From the simulation data, an extension of mission lifetime can be observed. This research extends the current literature on swarm intelligent systems by considering complex mission scenarios. A deeper understanding of the performance of the decentralised controllers is developed from the analysis of the results. Advisors/Committee Members: Page, John, Mechanical & Manufacturing Engineering, Faculty of Engineering, UNSW, Olsen, John, Mechanical & Manufacturing Engineering, Faculty of Engineering, UNSW.

Subjects/Keywords: UAVs; Agent-Based; Cooperative Control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Cheng, H. (2013). Behaviour-based decentralised cooperative control for unmanned systems. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/53325 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:12020/SOURCE02?view=true

Chicago Manual of Style (16^th Edition):

Cheng, Haoyang. “Behaviour-based decentralised cooperative control for unmanned systems.” 2013. Doctoral Dissertation, University of New South Wales. Accessed January 19, 2021. http://handle.unsw.edu.au/1959.4/53325 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:12020/SOURCE02?view=true.

MLA Handbook (7^th Edition):

Cheng, Haoyang. “Behaviour-based decentralised cooperative control for unmanned systems.” 2013. Web. 19 Jan 2021.

Vancouver:

Cheng H. Behaviour-based decentralised cooperative control for unmanned systems. [Internet] [Doctoral dissertation]. University of New South Wales; 2013. [cited 2021 Jan 19]. Available from: http://handle.unsw.edu.au/1959.4/53325 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:12020/SOURCE02?view=true.

Council of Science Editors:

Cheng H. Behaviour-based decentralised cooperative control for unmanned systems. [Doctoral Dissertation]. University of New South Wales; 2013. Available from: http://handle.unsw.edu.au/1959.4/53325 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:12020/SOURCE02?view=true

Georgia Tech

5. Lim, Yusun. Game theoretic distributed coordination: drifting environments and constrained communications.

Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech

URL: http://hdl.handle.net/1853/52986

► The major objective of this dissertation is extending the capabilities of game theoretic distributed control to more general settings. In particular, we are interested in… (more)

▼ The major objective of this dissertation is extending the capabilities of game theoretic distributed control to more general settings. In particular, we are interested in drifting environments and/or constrained communications. The first part of the dissertation concerns slowly varying dynamics, i.e., drifting environments. A standard assumption in game theoretic learning is a stationary environment, e.g., the game is fixed. We investigate the case of slow variations and show that for sufficiently slow time variations, the limiting behavior “tracks” the stochastically stable states. Since the analysis is regarding Markov processes, the results could be applied to various game theoretic learning rules. In this research, the results were applied to log-linear learning. A mobile sensor coverage example was tested in both simulation and laboratory experiments. The second part considers a problem of coordinating team players' actions without any communications in team-based zero-sum games. Generally, some global signalling devices are required for common randomness between players, but communications are very limited or impossible in many practical applications. Instead of learning a one-shot strategy, we let players coordinate a periodic sequence of deterministic actions and put an assumption on opponent's rationality. Since team players' action sequences are periodic and deterministic, common randomness is no longer required to coordinate players. It is proved that if a length of a periodic action sequence is long enough, then opponents with limited rationality cannot recognize its pattern. Because the opponents cannot recognize that the players are playing deterministic actions, the players' behavior looks like a correlated and randomized joint strategy with empirical distribution of their action sequences. Consequently players can coordinate their action sequences without any communications or global signals, and the resulting action sequences have correlated behavior. Moreover, the notion of micro-players are introduced for efficient learning of long action sequences. Micro-player matching approach provides a new framework that converts the original team-based zero-sum game to a game between micro-players. By introducing a de Bruijn sequence to micro-player matching, we successfully separate the level of opponent's rationality and the size of the game of micro-players. The simulation results are shown to demonstrate the performance of micro-player matching methods. Lastly, the results of the previous two topics are combined by considering a problem of coordinating actions without communications in drifting environments. More specifically, it is assumed that the opponent player in the team-based zero-sum games tries to adjust its strategy in the set of bounded recall strategies. Then the time-varying opponent's strategy can be considered as a dynamic environment parameter in a coordination game between the team players. Additionally, we develop a human testbed program for further study regarding a human as an… Advisors/Committee Members: Shamma, Jeff S. (advisor), Wardi, Yorai (committee member), Fekri, Faramarz (committee member), Feron, Eric (committee member), Howard, Ayanna M. (committee member), Bloch, Matthieu R. (committee member).

Subjects/Keywords: Game theoretic learning; Cooperative control; Distributed control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Lim, Y. (2014). Game theoretic distributed coordination: drifting environments and constrained communications. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/52986

Chicago Manual of Style (16^th Edition):

Lim, Yusun. “Game theoretic distributed coordination: drifting environments and constrained communications.” 2014. Doctoral Dissertation, Georgia Tech. Accessed January 19, 2021. http://hdl.handle.net/1853/52986.

MLA Handbook (7^th Edition):

Lim, Yusun. “Game theoretic distributed coordination: drifting environments and constrained communications.” 2014. Web. 19 Jan 2021.

Vancouver:

Lim Y. Game theoretic distributed coordination: drifting environments and constrained communications. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/1853/52986.

Council of Science Editors:

Lim Y. Game theoretic distributed coordination: drifting environments and constrained communications. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/52986

Texas A&M University

6. Bibeka, Apoorba. Evaluation of CACC Vehicles Clustering on Freeway Performance.

Degree: MS, Civil Engineering, 2016, Texas A&M University

URL: http://hdl.handle.net/1969.1/157937

► Vehicle clustering strategy can harness the full potential of cooperative adaptive cruise control (CACC). Vehicle clustering involves finding nearby CACC equipped vehicles and forming a… (more)

▼ Vehicle clustering strategy can harness the full potential of cooperative adaptive cruise control (CACC). Vehicle clustering involves finding nearby CACC equipped vehicles and forming a close spaced platoon with them if certain criteria are met. The aim of this research is to come up with a vehicle clustering strategy and evaluate the impact of this strategy on freeway performance measures such as throughput and emissions. VISSIM is used to simulate CACC equipped vehicles. Only CACC equipped trucks were modelled as one of the main focus of this research was to evaluate emission benefits of CACC system and emission benefits of platooning are more for vehicles with large frontal area. VISSIM’s external driver model application programming interface (API) is used to code the driver model and vehicle clustering strategy for CACC equipped vehicles. The author developed lane change logics and platooning logics for CACC equipped vehicles. VISSIM external driver model API calculated and sent the values of control related parameters such as acceleration to VISSIM at each time step and for all the CACC equipped vehicles in the network. The author evaluated the impact of volume, market penetration rate of CACC, wireless communication, lane restriction policy and desired gap for vehicles in platoon on freeway performance. A regression model was fitted to predict the percent reduction in CO2 based on factors such percent of time spent as a follower in platoon, desired gap and lane restriction policy. The study showed that a dedicated lane for CACC equipped vehicles increases the throughput. In addition, there is a reduction in emissions as compared to the case when vehicles are free to choose a lane. Also, a higher market penetration rate improves emission benefits. It was also seen that good communication between CACC equipped vehicles increases average speed. Advisors/Committee Members: Zhang, Yunlong (advisor), Kianfar, Kiavash (committee member), Talebpour, Alireza (committee member).

Subjects/Keywords: Cooperative Adaptive Cruise Control; Vehicle Clustering Strategy

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Bibeka, A. (2016). Evaluation of CACC Vehicles Clustering on Freeway Performance. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/157937

Chicago Manual of Style (16^th Edition):

Bibeka, Apoorba. “Evaluation of CACC Vehicles Clustering on Freeway Performance.” 2016. Masters Thesis, Texas A&M University. Accessed January 19, 2021. http://hdl.handle.net/1969.1/157937.

MLA Handbook (7^th Edition):

Bibeka, Apoorba. “Evaluation of CACC Vehicles Clustering on Freeway Performance.” 2016. Web. 19 Jan 2021.

Vancouver:

Bibeka A. Evaluation of CACC Vehicles Clustering on Freeway Performance. [Internet] [Masters thesis]. Texas A&M University; 2016. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/1969.1/157937.

Council of Science Editors:

Bibeka A. Evaluation of CACC Vehicles Clustering on Freeway Performance. [Masters Thesis]. Texas A&M University; 2016. Available from: http://hdl.handle.net/1969.1/157937

University of Leicester

7. Deshpande, Paresh Ravindra. Performance based coordination control of multi-agent systems subject to time delays.

Degree: PhD, 2013, University of Leicester

URL: https://figshare.com/articles/Performance_based_coordination_control_of_multi-agent_systems_subject_to_time_delays/10149467 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.568188

► This thesis considers the design of distributed state and output feedback control algorithms for linear multi-agent systems with performance guarantees in the presence of delays.… (more)

Subjects/Keywords: 629.8; Cooperative control; Time delayed systems

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APA (6^th Edition):

Deshpande, P. R. (2013). Performance based coordination control of multi-agent systems subject to time delays. (Doctoral Dissertation). University of Leicester. Retrieved from https://figshare.com/articles/Performance_based_coordination_control_of_multi-agent_systems_subject_to_time_delays/10149467 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.568188

Chicago Manual of Style (16^th Edition):

Deshpande, Paresh Ravindra. “Performance based coordination control of multi-agent systems subject to time delays.” 2013. Doctoral Dissertation, University of Leicester. Accessed January 19, 2021. https://figshare.com/articles/Performance_based_coordination_control_of_multi-agent_systems_subject_to_time_delays/10149467 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.568188.

MLA Handbook (7^th Edition):

Deshpande, Paresh Ravindra. “Performance based coordination control of multi-agent systems subject to time delays.” 2013. Web. 19 Jan 2021.

Vancouver:

Deshpande PR. Performance based coordination control of multi-agent systems subject to time delays. [Internet] [Doctoral dissertation]. University of Leicester; 2013. [cited 2021 Jan 19]. Available from: https://figshare.com/articles/Performance_based_coordination_control_of_multi-agent_systems_subject_to_time_delays/10149467 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.568188.

Council of Science Editors:

Deshpande PR. Performance based coordination control of multi-agent systems subject to time delays. [Doctoral Dissertation]. University of Leicester; 2013. Available from: https://figshare.com/articles/Performance_based_coordination_control_of_multi-agent_systems_subject_to_time_delays/10149467 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.568188

Delft University of Technology

8. van den Bos, Pepijn (author). Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6

► With the decrease in sensor and actuator costs decentralized control strategies have become increasingly attractive, aiming to use multiple simpler robots for achieving a global… (more)

Subjects/Keywords: decentralized control; aerial towing; cooperative manipulation

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APA (6^th Edition):

van den Bos, P. (. (2018). Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6

Chicago Manual of Style (16^th Edition):

van den Bos, Pepijn (author). “Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.” 2018. Masters Thesis, Delft University of Technology. Accessed January 19, 2021. http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6.

MLA Handbook (7^th Edition):

van den Bos, Pepijn (author). “Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.” 2018. Web. 19 Jan 2021.

Vancouver:

van den Bos P(. Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 19]. Available from: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6.

Council of Science Editors:

van den Bos P(. Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6

University of New Mexico

9. Cortez, Randy Andres. Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach.

Degree: Mechanical Engineering, 2011, University of New Mexico

URL: http://hdl.handle.net/1928/12074

► Currently in the literature there does not exist a framework which incorporates a heterogeneous team of agents to solve the sensor network connectivity problem. An… (more)

▼ Currently in the literature there does not exist a framework which incorporates a heterogeneous team of agents to solve the sensor network connectivity problem. An approach that makes use of a heterogeneous team of agents has several advantages when cost, integration of capabilities, or possible large search areas need to be investigated. A heterogeneous team allows for the robots to become ``specialized'' in their abilities and therefore accomplish sub-goals more efficiently which in turn makes the overall mission more efficient. In Part I of this dissertation we address the problem of prioritized sensing of an area with a homogeneous sensor network. We derive a decentralized and collision free controller that drives the sensing agents to positions within the area that contain the highest probability of containing ``good information.'' We then apply this prioritized sensing controller to a target search scenario, where a group of cooperating UAVs must detect then track a maneuvering target within the search space. In Part II of this dissertation we relax the assumption of network connectivity within the sensor network and introduce mobile communication relays to the network. This addition converts the homogeneous sensor network to a heterogeneous one. Based on the communication geometry of both sensing and communication relay agents we derive communication constraints within the network that guarantee network connectivity. We then define a heterogeneous proximity graph that encodes the communication links that exist within the heterogeneous network. By specifying particular edge weights in the proximity graph, we provide a technique for biasing particular connections within the heterogenous sensor network. Through a minimal spanning tree approach, we show how to minimize communication links within the network which allows for larger feasible motion sets of the sensing agents that guarantee the network remains connected. We also provide an algorithm that allows for adding communication links to the minimal spanning tree of the heterogeneous proximity graph to create a biconnected graph that is robust to a single node failure. We then combine the prioritized search algorithm from Part I and the communication constraints from Part II to provide a decentralized prioritized sensing control algorithm for a heterogenous sensor network that maintains network connectivity. Lastly, in Part III we describe our robotic testbed that has been built to validate our proposed algorithms. We provide hardware experiments for both homogenous and heterogeneous sensor networks. Advisors/Committee Members: Fierro, Rafael, Lumia, Ron, Tanner, Herbert, Starr, Gregory.

Subjects/Keywords: Multi-Robot Control; Connectivity; Cooperative Robotics

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APA (6^th Edition):

Cortez, R. A. (2011). Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach. (Doctoral Dissertation). University of New Mexico. Retrieved from http://hdl.handle.net/1928/12074

Chicago Manual of Style (16^th Edition):

Cortez, Randy Andres. “Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach.” 2011. Doctoral Dissertation, University of New Mexico. Accessed January 19, 2021. http://hdl.handle.net/1928/12074.

MLA Handbook (7^th Edition):

Cortez, Randy Andres. “Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach.” 2011. Web. 19 Jan 2021.

Vancouver:

Cortez RA. Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach. [Internet] [Doctoral dissertation]. University of New Mexico; 2011. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/1928/12074.

Council of Science Editors:

Cortez RA. Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach. [Doctoral Dissertation]. University of New Mexico; 2011. Available from: http://hdl.handle.net/1928/12074

Delft University of Technology

10. Abou Harfouch, Youssef (author). Adaptive strategies for platooning.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20

► Automated driving, one of the rapidly growing research topics in the field of smart traffic, has proved to be a recognized solution for potentially improving… (more)

▼ Automated driving, one of the rapidly growing research topics in the field of smart traffic, has proved to be a recognized solution for potentially improving road throughput and reducing vehicles' energy consumption by grouping individual vehicles into platoons controlled by one leading vehicle. The advances in distributed inter-vehicle communication networks have stimulated a fruitful line of research in Cooperative Adaptive Cruise Control (CACC). In CACC, individual vehicles, grouped into platoons, must automatically adjust their own speed using on-board sensors and communication with the preceding vehicle so as to maintain a safe inter-vehicle distance. The importance of CACC lies in the fact that it enables small inter-vehicle time gaps, which leads to a major reduction of the aerodynamical drag force applied on vehicles in such a driving pattern. Consequently, vehicle emissions, which play a main role in trucks and heavy automobiles, are expected to be highly reduced. However, a crucial limitation of the state-of-the-art research in this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics and perfect engine performance (homogeneous platoon), and possibly an ideal communication channel. Thus, the objective of this MSc thesis is to address the problem of CACC for heterogeneous platoons under realistic inter-vehicle network conditions. In the first part, we propose a novel CACC strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability for uncertain heterogeneous platoons under ideal inter-vehicle network conditions. In the second part, in order to handle the inevitable communication losses, we formulate an extended average dwell-time framework and design an adaptive switched control strategy which activates an augmented CACC or an augmented Adaptive Cruise Control strategy depending on communication reliability. Stability of the proposed control strategies is proven analytically and simulations are conducted to validate the theoretical analysis. Advisors/Committee Members: Baldi, Simone (mentor), Yuan, Shuai (mentor), Verhaegen, Michel (graduation committee), Alonso Mora, Javier (graduation committee), Wang, Meng (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Heterogeneous platooning; Cooperative adaptive cruise control; Adaptive control; Switched control

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APA (6^th Edition):

Abou Harfouch, Y. (. (2017). Adaptive strategies for platooning. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20

Chicago Manual of Style (16^th Edition):

Abou Harfouch, Youssef (author). “Adaptive strategies for platooning.” 2017. Masters Thesis, Delft University of Technology. Accessed January 19, 2021. http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20.

MLA Handbook (7^th Edition):

Abou Harfouch, Youssef (author). “Adaptive strategies for platooning.” 2017. Web. 19 Jan 2021.

Vancouver:

Abou Harfouch Y(. Adaptive strategies for platooning. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 19]. Available from: http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20.

Council of Science Editors:

Abou Harfouch Y(. Adaptive strategies for platooning. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:69cbd634-f2af-4856-9fca-8f92b56fab20

Delft University of Technology

11. de Groot, Oscar (author). Cooperative r-Passivity-Based Control: Development of a Multi-Agent Passivity-Based Control Scheme with Robustness towards Network Effects.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:ecb31ded-9b7f-43bf-b726-ce44e8524c57

►

In this work we consider the problem of cooperative formation control between heterogeneous agents when time-varying delays and/or packet loss are present. Specifically, we introduce… (more)

Subjects/Keywords: Formation Control; Collision Avoidance; Passivity-Based Control; Cooperative Control; Scattering Transformation

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APA (6^th Edition):

de Groot, O. (. (2019). Cooperative r-Passivity-Based Control: Development of a Multi-Agent Passivity-Based Control Scheme with Robustness towards Network Effects. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:ecb31ded-9b7f-43bf-b726-ce44e8524c57

Chicago Manual of Style (16^th Edition):

de Groot, Oscar (author). “Cooperative r-Passivity-Based Control: Development of a Multi-Agent Passivity-Based Control Scheme with Robustness towards Network Effects.” 2019. Masters Thesis, Delft University of Technology. Accessed January 19, 2021. http://resolver.tudelft.nl/uuid:ecb31ded-9b7f-43bf-b726-ce44e8524c57.

MLA Handbook (7^th Edition):

de Groot, Oscar (author). “Cooperative r-Passivity-Based Control: Development of a Multi-Agent Passivity-Based Control Scheme with Robustness towards Network Effects.” 2019. Web. 19 Jan 2021.

Vancouver:

de Groot O(. Cooperative r-Passivity-Based Control: Development of a Multi-Agent Passivity-Based Control Scheme with Robustness towards Network Effects. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 19]. Available from: http://resolver.tudelft.nl/uuid:ecb31ded-9b7f-43bf-b726-ce44e8524c57.

Council of Science Editors:

de Groot O(. Cooperative r-Passivity-Based Control: Development of a Multi-Agent Passivity-Based Control Scheme with Robustness towards Network Effects. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:ecb31ded-9b7f-43bf-b726-ce44e8524c57

University of Arizona

12. Yaylali, David. Fractional Control of Multivehicle Systems and Relative Orbits .

Degree: 2018, University of Arizona

URL: http://hdl.handle.net/10150/631415

► Cooperative control protocols can be formulated for systems comprising multiple independent agents which can share information. In this work I will consider the cooperative control… (more)

Subjects/Keywords: Consensus Control; Cooperative Control; Fractional Control; Multivehicle Consensis; Relative Orbits and Control; Second-Order Consensus

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APA (6^th Edition):

Yaylali, D. (2018). Fractional Control of Multivehicle Systems and Relative Orbits . (Masters Thesis). University of Arizona. Retrieved from http://hdl.handle.net/10150/631415

Chicago Manual of Style (16^th Edition):

Yaylali, David. “Fractional Control of Multivehicle Systems and Relative Orbits .” 2018. Masters Thesis, University of Arizona. Accessed January 19, 2021. http://hdl.handle.net/10150/631415.

MLA Handbook (7^th Edition):

Yaylali, David. “Fractional Control of Multivehicle Systems and Relative Orbits .” 2018. Web. 19 Jan 2021.

Vancouver:

Yaylali D. Fractional Control of Multivehicle Systems and Relative Orbits . [Internet] [Masters thesis]. University of Arizona; 2018. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/10150/631415.

Council of Science Editors:

Yaylali D. Fractional Control of Multivehicle Systems and Relative Orbits . [Masters Thesis]. University of Arizona; 2018. Available from: http://hdl.handle.net/10150/631415

RMIT University

13. Ilaya, O. Cooperative control for multi-vehicle swarms.

Degree: 2009, RMIT University

URL: http://researchbank.rmit.edu.au/view/rmit:6702

► The cooperative control of large-scale multi-agent systems has gained a significant interest in recent years from the robotics and control communities for multi-vehicle control. One… (more)

▼ The cooperative control of large-scale multi-agent systems has gained a significant interest in recent years from the robotics and control communities for multi-vehicle control. One motivator for the growing interest is the application of spatially and temporally distributed multiple unmanned aerial vehicle (UAV) systems for distributed sensing and collaborative operations. In this research, the multi-vehicle control problem is addressed using a decentralised control system. The work aims to provide a decentralised control framework that synthesises the self-organised and coordinated behaviour of natural swarming systems into cooperative UAV systems. The control system design framework is generalised for application into various other multi-agent systems including cellular robotics, ad-hoc communication networks, and modular smart-structures. The approach involves identifying su itable relationships that describe the behaviour of the UAVs within the swarm and the interactions of these behaviours to produce purposeful high-level actions for system operators. A major focus concerning the research involves the development of suitable analytical tools that decomposes the general swarm behaviours to the local vehicle level. The control problem is approached using two-levels of abstraction; the supervisory level, and the local vehicle level. Geometric control techniques based on differential geometry are used at the supervisory level to reduce the control problem to a small set of permutation and size invariant abstract descriptors. The abstract descriptors provide an open-loop optimal state and control trajectory for the collective swarm and are used to describe the intentions of the vehicles. Decentralised optimal control is implemented at the local vehicle level to synthesise self-organised and cooperative behaviour. A deliberative control scheme is implemented at the local vehicle le vel that demonstrates autonomous, cooperative and optimal behaviour whilst the preserving precision and reliability at the local vehicle level.

Subjects/Keywords: Fields of Research; Swarms; Cooperative control; Decentralised control; UAV

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APA (6^th Edition):

Ilaya, O. (2009). Cooperative control for multi-vehicle swarms. (Thesis). RMIT University. Retrieved from http://researchbank.rmit.edu.au/view/rmit:6702

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ilaya, O. “Cooperative control for multi-vehicle swarms.” 2009. Thesis, RMIT University. Accessed January 19, 2021. http://researchbank.rmit.edu.au/view/rmit:6702.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ilaya, O. “Cooperative control for multi-vehicle swarms.” 2009. Web. 19 Jan 2021.

Vancouver:

Ilaya O. Cooperative control for multi-vehicle swarms. [Internet] [Thesis]. RMIT University; 2009. [cited 2021 Jan 19]. Available from: http://researchbank.rmit.edu.au/view/rmit:6702.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ilaya O. Cooperative control for multi-vehicle swarms. [Thesis]. RMIT University; 2009. Available from: http://researchbank.rmit.edu.au/view/rmit:6702

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of California – San Diego

14. Ramirez Llanos, Eduardo Jose. Distributed Resource Allocation and Optimization Algorithms Applied to Virus Spread Minimization.

Degree: Engineering Sciences (Aerospace Engineering), 2017, University of California – San Diego

URL: http://www.escholarship.org/uc/item/4858r5x4

► The proliferation of large-scale networks like social networks, transportation networks, or smartgrids imposes new demands and challenges on the design of learning algorithms for optimal… (more)

▼ The proliferation of large-scale networks like social networks, transportation networks, or smartgrids imposes new demands and challenges on the design of learning algorithms for optimal resource allocation. In a typical scenario, a group of agents decides how to coordinate the use of shared resources to solve a common goal while satisfying operational and communication constraints. The challenge is how to increase the network resilience given myopic agents with access to partial information. Under these settings, there is an emergence for the design of algorithms that are scalable, robust against adversarial or unknown environments, preserve privacy, and that allow the agents to take autonomous decisions on the resource utilization.A real-world problem leading to such a scenarios arises in computer networks, epidemiology, and viral marketing, where a viral outbreak can be a threat to the security of interconnected infrastructure and the well-being of general population. The implementation of strategies to stop epidemics can be specially challenging when networks are managed by multiple operators who need to preserve the privacy and interests of their constituents.Motivated by this situation, we consider a resource allocation problem for virus spread minimization. Based on a general contagion dynamics model, we characterize the optimal solution to the problem. We pose the problem objective as the minimization of the spectral radius of the contagion-dynamics matrix subject to operational constraints. We propose four algorithms to find the solution with provable convergence guarantees under different settings. The first algorithm, inspired by the Replicator Dynamics, implements the desired resource allocation for time-varying symmetric matrices. The second algorithm, designed in continuous-time, uses local and anonymous interactions, does not require knowledge of the total resource available to agents in order to converge to the solution, is robust to agents joining or departing the network, and to sporadic changes in the network topology, computation errors, and communication faults. The third algorithm, which is a discrete version of the second one, conserves the robustness properties of the previous one. Finally, we propose a stochastic algorithm, which extends the previous algorithms to scenarios where the closed-form expression of the cost functions is unknown to the agents.

Subjects/Keywords: Engineering; Cooperative Control; Distributed optimization; Multi-agent systems; nonlinear control

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APA (6^th Edition):

Ramirez Llanos, E. J. (2017). Distributed Resource Allocation and Optimization Algorithms Applied to Virus Spread Minimization. (Thesis). University of California – San Diego. Retrieved from http://www.escholarship.org/uc/item/4858r5x4

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ramirez Llanos, Eduardo Jose. “Distributed Resource Allocation and Optimization Algorithms Applied to Virus Spread Minimization.” 2017. Thesis, University of California – San Diego. Accessed January 19, 2021. http://www.escholarship.org/uc/item/4858r5x4.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ramirez Llanos, Eduardo Jose. “Distributed Resource Allocation and Optimization Algorithms Applied to Virus Spread Minimization.” 2017. Web. 19 Jan 2021.

Vancouver:

Ramirez Llanos EJ. Distributed Resource Allocation and Optimization Algorithms Applied to Virus Spread Minimization. [Internet] [Thesis]. University of California – San Diego; 2017. [cited 2021 Jan 19]. Available from: http://www.escholarship.org/uc/item/4858r5x4.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ramirez Llanos EJ. Distributed Resource Allocation and Optimization Algorithms Applied to Virus Spread Minimization. [Thesis]. University of California – San Diego; 2017. Available from: http://www.escholarship.org/uc/item/4858r5x4

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of California – Riverside

15. Ghapani, Sheida. Distributed Tracking Algorithms for Multi-Agent Systems to Solve the Leader-Follower Flocking of Lagrange Networks and Dynamic Average Tracking Problem of Second-Order Systems.

Degree: Electrical Engineering, 2016, University of California – Riverside

URL: http://www.escholarship.org/uc/item/2b746882

► A multi-agent system is defined as a collection of autonomous agents which are able to interact with each other or with their environments to solve… (more)

▼ A multi-agent system is defined as a collection of autonomous agents which are able to interact with each other or with their environments to solve problems that are difficult or impossible for an individual agent. Coordination in multi-agent systems attracts significant interest in the realm of engineering. Examples of cooperative tasks include mobile sensor networks, automated parallel delivery of payloads, region following formation control and coordinated path planning. One common feature for these systems is acting the agents in a distributed manner (using only local information from their neighbors) to complete global tasks cooperatively so as to increase flexibility and robustness. In this work, two distributed tracking issues in multi-agent systems are investigated in detail: leader-follower flocking with a moving leader for Lagrange networks and distributed average tracking of physical agents.Flocking of multi-agent systems is the motion of a group of agents cohesively to maintain connectivity and avoid collisions. This dissertation proposes novel distributed tracking algorithms to solve the leader-follower flocking problem with a moving leader. The problem is investigated for networked Lagrange systems with parametric uncertainties under a proximity graph. Two cases are considered: i) the leader moves with a constant velocity, and ii) the leader moves with a varying velocity. In the first case, a distributed continuous adaptive control algorithm accounting for unknown parameters is proposed in combination with a distributed continuous estimator for each follower. In the second case, a distributed discontinuous adaptive control algorithm and estimator are proposed to track the varying leader, where only a group of followers have access to the leader. However, in the proposed algorithm the agents use the two-hope neighbors' information and need some global information to determine the control gains. Thus, the algorithm is improved in the next step to use one-hop neighbors' information and to be fully distributed with the introduction of gain adaptation laws. In all proposed algorithms, flocking is achieved as long as the connectivity and collision avoidance are ensured at the initial time and the control gains are designed properly.In the distributed average tracking problem, each agent uses local information to calculate the average of individual varying input signals, one per agent. In this dissertation, two distributed average tracking problems for physical second-order agents are investigated. First, distributed average tracking problem is studied for double-integrator agents with reduced requirement on velocity measurements and in the absence of correct position and velocity initialization. Two algorithms are introduced, where in both algorithms a distributed discontinuous control input and a filter are proposed. In the first algorithm, the requirement for either absolute or relative velocity measurements is removed. The algorithm is robust to initialization errors and can deal with a wide class of input…

Subjects/Keywords: Electrical engineering; Control; Cooperative control; Distributed systems; Estimation; Flocking; Tracking

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APA (6^th Edition):

Ghapani, S. (2016). Distributed Tracking Algorithms for Multi-Agent Systems to Solve the Leader-Follower Flocking of Lagrange Networks and Dynamic Average Tracking Problem of Second-Order Systems. (Thesis). University of California – Riverside. Retrieved from http://www.escholarship.org/uc/item/2b746882

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ghapani, Sheida. “Distributed Tracking Algorithms for Multi-Agent Systems to Solve the Leader-Follower Flocking of Lagrange Networks and Dynamic Average Tracking Problem of Second-Order Systems.” 2016. Thesis, University of California – Riverside. Accessed January 19, 2021. http://www.escholarship.org/uc/item/2b746882.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ghapani, Sheida. “Distributed Tracking Algorithms for Multi-Agent Systems to Solve the Leader-Follower Flocking of Lagrange Networks and Dynamic Average Tracking Problem of Second-Order Systems.” 2016. Web. 19 Jan 2021.

Vancouver:

Ghapani S. Distributed Tracking Algorithms for Multi-Agent Systems to Solve the Leader-Follower Flocking of Lagrange Networks and Dynamic Average Tracking Problem of Second-Order Systems. [Internet] [Thesis]. University of California – Riverside; 2016. [cited 2021 Jan 19]. Available from: http://www.escholarship.org/uc/item/2b746882.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ghapani S. Distributed Tracking Algorithms for Multi-Agent Systems to Solve the Leader-Follower Flocking of Lagrange Networks and Dynamic Average Tracking Problem of Second-Order Systems. [Thesis]. University of California – Riverside; 2016. Available from: http://www.escholarship.org/uc/item/2b746882

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of California – Berkeley

16. Liu, Shih-Yuan. Collaborative Team Evasion Against a Faster Pursuer.

Degree: Mechanical Engineering, 2014, University of California – Berkeley

URL: http://www.escholarship.org/uc/item/84c600t1

► In the past decade, the level of autonomy of unmanned vehicles has been rising rapidly from remote-controlled towards fully autonomous. Without human operators on board,… (more)

Subjects/Keywords: Mechanical engineering; Control; Cooperative Control; Optimization; Pursuit-evasion; Team Evasion

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APA (6^th Edition):

Liu, S. (2014). Collaborative Team Evasion Against a Faster Pursuer. (Thesis). University of California – Berkeley. Retrieved from http://www.escholarship.org/uc/item/84c600t1

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Liu, Shih-Yuan. “Collaborative Team Evasion Against a Faster Pursuer.” 2014. Thesis, University of California – Berkeley. Accessed January 19, 2021. http://www.escholarship.org/uc/item/84c600t1.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Liu, Shih-Yuan. “Collaborative Team Evasion Against a Faster Pursuer.” 2014. Web. 19 Jan 2021.

Vancouver:

Liu S. Collaborative Team Evasion Against a Faster Pursuer. [Internet] [Thesis]. University of California – Berkeley; 2014. [cited 2021 Jan 19]. Available from: http://www.escholarship.org/uc/item/84c600t1.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Liu S. Collaborative Team Evasion Against a Faster Pursuer. [Thesis]. University of California – Berkeley; 2014. Available from: http://www.escholarship.org/uc/item/84c600t1

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Penn State University

17. Ghosh, Supratim. Teams and games for distributed consensus.

Degree: 2013, Penn State University

URL: https://submit-etda.libraries.psu.edu/catalog/18723

► The problem of synthesizing linear dynamic feedback controllers which achieve distributed fi�nite-time consensus for networks of multiple agents described by fi�xed connectivity graphs is considered.… (more)

▼ The problem of synthesizing linear dynamic feedback controllers which achieve distributed fi�nite-time consensus for networks of multiple agents described by fi�xed connectivity graphs is considered. The techniques of teams and games are employed in synthesizing these controllers. Under the situations where the connectivity graph is known to every agent or to a central authority a priori, the network behaves as a team and the solution procedure involves posing a �finite-horizon decentralized control problem and converting it to a static convex optimization problem via linear quadratic team-theoretic notions. The dynamic feedback controller thus synthesized optimizes a transient performance measure and guarantees consensus within a minimal number of steps. Extending these results to situations where the networks are described by connectivity graphs which are not known at the outset to any of the agents or to a central authority, the problem of optimal distributed consensus is formulated as a decentralized linear quadratic game where the agents minimize their own local costs by sequentially learning the network connectivity and generating local decisions. A distributed protocol based on online optimization and linear dynamic feedback is shown to achieve an equilibrium with respect to these local costs. For the cases of unknown undirected (bidirectional) graphs the protocol produces an optimal performance with time-optimal �finite-time consensus. The control protocol is formed by coupling and jointly optimizing the tasks of network learning and network control so that the states can be steered to the desired consensus value. Under unknown general directed graphs a similar distributed control protocol exhibits a near-optimal fi�nite-time consensus. Several classes of directed graphs for which the controller performs optimally in space and/or in time have been identi�fied. On the other hand, counterexamples show that due to the diffi�culties inherent to dealing with general directed graphs, no control policy is uniformly optimal over all directed graphs. Advisors/Committee Members: Ji Woong Lee, Dissertation Advisor/Co-Advisor, Ji Woong Lee, Committee Chair/Co-Chair, Constantino Manuel Lagoa, Committee Member, Asok Ray, Committee Member, Piotr Berman, Committee Member.

Subjects/Keywords: Cooperative Control; Game Theory; Multi-agent Consensus; Decentralized Control.

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APA (6^th Edition):

Ghosh, S. (2013). Teams and games for distributed consensus. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/18723

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ghosh, Supratim. “Teams and games for distributed consensus.” 2013. Thesis, Penn State University. Accessed January 19, 2021. https://submit-etda.libraries.psu.edu/catalog/18723.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ghosh, Supratim. “Teams and games for distributed consensus.” 2013. Web. 19 Jan 2021.

Vancouver:

Ghosh S. Teams and games for distributed consensus. [Internet] [Thesis]. Penn State University; 2013. [cited 2021 Jan 19]. Available from: https://submit-etda.libraries.psu.edu/catalog/18723.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ghosh S. Teams and games for distributed consensus. [Thesis]. Penn State University; 2013. Available from: https://submit-etda.libraries.psu.edu/catalog/18723

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Queens University

18. Kamal El-Din Hafez, Ahmed. Design and Implementation of Modern Control Algorithms for Unmanned Aerial Vehicles .

Degree: Electrical and Computer Engineering, 2014, Queens University

URL: http://hdl.handle.net/1974/12657

► Recently, Unmanned Aerial Vehicles (UAVs) have attracted a great deal of attention in academic, civilian and military communities as prospective solutions to a wide variety… (more)

Subjects/Keywords: Model Predictive Control ; Cooperative Control ; Unmanned Aerial Vehicles

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APA (6^th Edition):

Kamal El-Din Hafez, A. (2014). Design and Implementation of Modern Control Algorithms for Unmanned Aerial Vehicles . (Thesis). Queens University. Retrieved from http://hdl.handle.net/1974/12657

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Kamal El-Din Hafez, Ahmed. “Design and Implementation of Modern Control Algorithms for Unmanned Aerial Vehicles .” 2014. Thesis, Queens University. Accessed January 19, 2021. http://hdl.handle.net/1974/12657.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Kamal El-Din Hafez, Ahmed. “Design and Implementation of Modern Control Algorithms for Unmanned Aerial Vehicles .” 2014. Web. 19 Jan 2021.

Vancouver:

Kamal El-Din Hafez A. Design and Implementation of Modern Control Algorithms for Unmanned Aerial Vehicles . [Internet] [Thesis]. Queens University; 2014. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/1974/12657.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Kamal El-Din Hafez A. Design and Implementation of Modern Control Algorithms for Unmanned Aerial Vehicles . [Thesis]. Queens University; 2014. Available from: http://hdl.handle.net/1974/12657

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Bath

19. Du, Zhenyu. Position and force control of cooperating robots using inverse dynamics.

Degree: PhD, 2015, University of Bath

URL: https://researchportal.bath.ac.uk/en/studentthesis/position-and-force-control-of-cooperating-robots-using-inverse-dynamics(dd013afe-c312-4dab-a6a9-617fd31bbbc4).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.655721

► Multiple robot manipulators cooperating in a common manipulation task can accomplish complex tasks that a single manipulator would be unable to complete. To achieve physical… (more)

Subjects/Keywords: 629.8; Robotics; Inverse dynamics; Force control; Cooperative control

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APA (6^th Edition):

Du, Z. (2015). Position and force control of cooperating robots using inverse dynamics. (Doctoral Dissertation). University of Bath. Retrieved from https://researchportal.bath.ac.uk/en/studentthesis/position-and-force-control-of-cooperating-robots-using-inverse-dynamics(dd013afe-c312-4dab-a6a9-617fd31bbbc4).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.655721

Chicago Manual of Style (16^th Edition):

Du, Zhenyu. “Position and force control of cooperating robots using inverse dynamics.” 2015. Doctoral Dissertation, University of Bath. Accessed January 19, 2021. https://researchportal.bath.ac.uk/en/studentthesis/position-and-force-control-of-cooperating-robots-using-inverse-dynamics(dd013afe-c312-4dab-a6a9-617fd31bbbc4).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.655721.

MLA Handbook (7^th Edition):

Du, Zhenyu. “Position and force control of cooperating robots using inverse dynamics.” 2015. Web. 19 Jan 2021.

Vancouver:

Du Z. Position and force control of cooperating robots using inverse dynamics. [Internet] [Doctoral dissertation]. University of Bath; 2015. [cited 2021 Jan 19]. Available from: https://researchportal.bath.ac.uk/en/studentthesis/position-and-force-control-of-cooperating-robots-using-inverse-dynamics(dd013afe-c312-4dab-a6a9-617fd31bbbc4).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.655721.

Council of Science Editors:

Du Z. Position and force control of cooperating robots using inverse dynamics. [Doctoral Dissertation]. University of Bath; 2015. Available from: https://researchportal.bath.ac.uk/en/studentthesis/position-and-force-control-of-cooperating-robots-using-inverse-dynamics(dd013afe-c312-4dab-a6a9-617fd31bbbc4).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.655721

Halmstad University

20. Mak, Spencer. Design and Implementation of Cooperative Adaptive Cruise Control.

Degree: Computer and Electrical Engineering (IDE), 2011, Halmstad University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-15221

►

With limited road infrastructure and increasing number of vehicles on the road, an intelligent transport system is needed to increase the throughput in traffic… (more)

Subjects/Keywords: cooperative driving; control; string stability; CACC; GCDC; Automatic control; Reglerteknik

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mak, S. (2011). Design and Implementation of Cooperative Adaptive Cruise Control. (Thesis). Halmstad University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-15221

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mak, Spencer. “Design and Implementation of Cooperative Adaptive Cruise Control.” 2011. Thesis, Halmstad University. Accessed January 19, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-15221.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mak, Spencer. “Design and Implementation of Cooperative Adaptive Cruise Control.” 2011. Web. 19 Jan 2021.

Vancouver:

Mak S. Design and Implementation of Cooperative Adaptive Cruise Control. [Internet] [Thesis]. Halmstad University; 2011. [cited 2021 Jan 19]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-15221.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mak S. Design and Implementation of Cooperative Adaptive Cruise Control. [Thesis]. Halmstad University; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-15221

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Toronto

21. Roza, Ashton. Distributed Coordination Theory for Ground and Aerial Robot Teams.

Degree: PhD, 2019, University of Toronto

URL: http://hdl.handle.net/1807/95970

► This thesis investigates distributed coordination problems for two important classes of robots. One class corresponds to ground-based mobile robots, each modelled as a kinematic unicycle.… (more)

▼ This thesis investigates distributed coordination problems for two important classes of robots. One class corresponds to ground-based mobile robots, each modelled as a kinematic unicycle. The second corresponds to flying robots, each propelled by a thrust vector and endowed with an actuation mechanism producing torques about three orthogonal body axes. The following coordination problems are studied in this thesis: rendezvous, formation control, linear and circular formation flocking and formation path following. For rendezvous of kinematic unicycles, a smooth, time-independent control law is presented that drives the unicycles to a common position from arbitrary initial conditions, under the assumption that the sensing digraph is time-invariant and contains a globally reachable node. The proposed feedback is very simple and is local and distributed. For rendezvous of flying robots, a control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood of one another. The convergence is global, and each vehicle can compute its own control input using local and distributed feedback. For formation control, the objective is to make an ensemble of kinematic unicycles achieve pre-defined inter-agent spacings with parallel heading angles. We consider scenarios where the formation either stops or moves with a final collective motion. In the latter case, problems of linear and circular formation flocking and formation path following are studied. A control law is presented in each case that solves the problem for almost all initial conditions. For stopping and flocking formations, the proposed control laws are local and distributed while for formation path following, the control laws additionally require each agent to measure its displacement from the path. The idea used to solve the formation control problems is to rigidly attach an offset vector to the body frame of each unicycle. It is shown that stabilizing the desired formation amounts to achieving consensus of the endpoints of the offset vectors, and simultaneously synchronizing the unicycles' heading angles. Extension of formation control to flying robots using strictly local and distributed feedback is not addressed in this work and remains a challenging open problem. Advisors/Committee Members: Maggiore, Manfredi, Scardovi, Luca, Electrical and Computer Engineering.

Subjects/Keywords: Autonomous robotics; Cooperative control; Distributed control; Stability of nonlinear systems; 0771

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Roza, A. (2019). Distributed Coordination Theory for Ground and Aerial Robot Teams. (Doctoral Dissertation). University of Toronto. Retrieved from http://hdl.handle.net/1807/95970

Chicago Manual of Style (16^th Edition):

Roza, Ashton. “Distributed Coordination Theory for Ground and Aerial Robot Teams.” 2019. Doctoral Dissertation, University of Toronto. Accessed January 19, 2021. http://hdl.handle.net/1807/95970.

MLA Handbook (7^th Edition):

Roza, Ashton. “Distributed Coordination Theory for Ground and Aerial Robot Teams.” 2019. Web. 19 Jan 2021.

Vancouver:

Roza A. Distributed Coordination Theory for Ground and Aerial Robot Teams. [Internet] [Doctoral dissertation]. University of Toronto; 2019. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/1807/95970.

Council of Science Editors:

Roza A. Distributed Coordination Theory for Ground and Aerial Robot Teams. [Doctoral Dissertation]. University of Toronto; 2019. Available from: http://hdl.handle.net/1807/95970

Oklahoma State University

22. La, Hung Manh. Cooperative Control, Learning and Sensing in Mobile Sensor Networks.

Degree: School of Electrical & Computer Engineering, 2011, Oklahoma State University

URL: http://hdl.handle.net/11244/7859

► Mobile sensor networks (MSNs) have great potential in many applications including environment exploring and monitoring; search and rescue; cooperative detection of toxic chemicals, etc. Motivated… (more)

Subjects/Keywords: cooperative learning; cooperative sensing; flocking control; mobile sensor networks; multi-agent systems; sensor

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

La, H. M. (2011). Cooperative Control, Learning and Sensing in Mobile Sensor Networks. (Thesis). Oklahoma State University. Retrieved from http://hdl.handle.net/11244/7859

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

La, Hung Manh. “Cooperative Control, Learning and Sensing in Mobile Sensor Networks.” 2011. Thesis, Oklahoma State University. Accessed January 19, 2021. http://hdl.handle.net/11244/7859.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

La, Hung Manh. “Cooperative Control, Learning and Sensing in Mobile Sensor Networks.” 2011. Web. 19 Jan 2021.

Vancouver:

La HM. Cooperative Control, Learning and Sensing in Mobile Sensor Networks. [Internet] [Thesis]. Oklahoma State University; 2011. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/11244/7859.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

La HM. Cooperative Control, Learning and Sensing in Mobile Sensor Networks. [Thesis]. Oklahoma State University; 2011. Available from: http://hdl.handle.net/11244/7859

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Virginia Tech

23. Ala, Mani Venkat Sai Kumar. Eco-Cooperative Adaptive Cruise Control at Signalized Intersections Considering Vehicle Queues.

Degree: MS, Civil Engineering, 2016, Virginia Tech

URL: http://hdl.handle.net/10919/78884

► Traffic signals typically produce vehicle stops and thus increase vehicle fuel consumption levels. Vehicle stops produced by traffic signals, decrease vehicle fuel economy on arterial… (more)

▼ Traffic signals typically produce vehicle stops and thus increase vehicle fuel consumption levels. Vehicle stops produced by traffic signals, decrease vehicle fuel economy on arterial roads making it significantly lower than that on freeways. Eco-Cooperative Adaptive Cruise Control (Eco-CACC) systems can improve vehicle fuel efficiency by receiving Signal Phasing and Timing (SPaT) data form downstream signalized intersections via vehicle-to-infrastructure communication. The algorithm that was developed in an earlier study provides advisory speed recommendations to drivers to reduce vehicle fuel consumption levels in the vicinity of traffic signalized intersections. The research presented in this thesis enhances the algorithm by adding a queue length estimation component and incorporates the algorithm in the INTEGRATION microscopic traffic simulation software to test the system under varying conditions. The enhanced Eco-CACC algorithm is then tested in a simulation environment considering different levels of connected vehicle (CV) market penetration levels. The simulation analysis demonstrates that the algorithm is able to reduce the vehicle fuel consumption level by as high as 40%. Moreover, the overall benefits of the proposed algorithm is evaluated for different intersection configurations and CV market penetration rates (MPRs). The results demonstrate that for single lane approaches, the algorithm can reduce the overall fuel consumption levels and that higher MPRs result in larger savings. While for multilane approaches, lower MPRs produce negative impacts on fuel efficiency; only when MPRs are greater than 30%, can the algorithm work effectively in reducing fuel consumption levels. Subsequently a sensitivity analysis is conducted. The sensitivity analysis demonstrates that higher market penetration rates of Eco-CACC enabled vehicles can improve the environmental benefits of the algorithm, and the overall savings in fuel consumption are as high as 19% when all vehicles are equipped with the system. While, on multi-lane approaches, the algorithm has negative impacts on fuel consumption levels when the market penetration rate is lower than 30 percent. The analysis also indicates that the length of control segments, the SPaT plan, and the traffic demand levels affect the algorithm performance significantly. The study further demonstrates that the algorithm has negative impacts on fuel consumption levels when the network is over-saturated. Advisors/Committee Members: Rakha, Hesham A. (committeechair), Yang, Hao (committee member), Hancock, Kathleen L. (committee member).

Subjects/Keywords: Eco-Cooperative driving; Cooperative Adaptive Cruise Control; Connected Vehicles; Traffic Signals; Eco-transportation systems

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APA (6^th Edition):

Ala, M. V. S. K. (2016). Eco-Cooperative Adaptive Cruise Control at Signalized Intersections Considering Vehicle Queues. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/78884

Chicago Manual of Style (16^th Edition):

Ala, Mani Venkat Sai Kumar. “Eco-Cooperative Adaptive Cruise Control at Signalized Intersections Considering Vehicle Queues.” 2016. Masters Thesis, Virginia Tech. Accessed January 19, 2021. http://hdl.handle.net/10919/78884.

MLA Handbook (7^th Edition):

Ala, Mani Venkat Sai Kumar. “Eco-Cooperative Adaptive Cruise Control at Signalized Intersections Considering Vehicle Queues.” 2016. Web. 19 Jan 2021.

Vancouver:

Ala MVSK. Eco-Cooperative Adaptive Cruise Control at Signalized Intersections Considering Vehicle Queues. [Internet] [Masters thesis]. Virginia Tech; 2016. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/10919/78884.

Council of Science Editors:

Ala MVSK. Eco-Cooperative Adaptive Cruise Control at Signalized Intersections Considering Vehicle Queues. [Masters Thesis]. Virginia Tech; 2016. Available from: http://hdl.handle.net/10919/78884

University of Illinois – Urbana-Champaign

24. Li, Zhiyuan. Guidance, control and estimation of autonomous vehicle systems.

Degree: PhD, 0133, 2014, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/46871

► This research focuses on designing practical guidance, control and estimation algorithms for autonomous vehicle systems. The objective is to provide robust control and estimation algorithms… (more)

▼ This research focuses on designing practical guidance, control and estimation algorithms for autonomous vehicle systems. The objective is to provide robust control and estimation algorithms for both single and multiple autonomous vehicles under realistic motion, sensing, and communication conditions such as uncertain dynamics, passive sensor, limited communication range, and the complicated coupling among them. With that objective in mind, we start with designing vision-based guidance and estimation algorithms for small unmanned air vehicles (UAVs) to track a ground target. The tracking task is for the UAV to maintain a horizontal orbit around the target with a predefined radius, so as to provide continuous visual surveillance of the target with a desired resolution. We design simple vision-based guidance laws for the cases of both static target and moving target by controlling only the turn rate of the UAV, and give rigorous proofs of the “almost global” asymptotic stability of the closed-loop systems. We extend the tracking algorithm for a single UAV to the case of coordinated target tracking with multiple UAVs by controlling only the turn rates, where, in addition to orbiting about the target, each UAV is required to maintain given phase differences from others. In order to provide continuous estimates of the target’s motion, including its position, velocity, and heading angle, we formulate an estimation problem in a deterministic setup such that the recently developed fast estimator can be applied which yields guaranteed transient performance. The second part of this thesis is dedicated to the topic of distributed control of a group of unmanned vehicles, in the presence of realistic dynamical, sensing and communication constraints. The objective is to drive a group of unmanned vehicles with uncertain dynamics from different initial conditions to aggregate towards a moving target of interest and align their velocities with it, resulting in a moving flock. We develop a cascaded control framework to decouple the inter-agent coordination from local uncertainty compensation for each single agent, such that existing algorithms in literature designed for simple ideal agent kinematics can be used as the outer-loop, while L1 adaptive controllers are used for the inner-loop. Two different ideal agent model are considered, namely, the double integrator and the nonholonomic model. To better handle the uncertainty compensation under limited computation and sensing capability, which is a quite common case for cheap and small autonomous vehicles, we develop a new L1 adaptive controller in the third part of this thesis. It features a modified piecewise constant adaptive law that imposes significantly less stringent requirements on the computation and sensing frequencies. The main idea is to more efficiently exploit the information of the uncertainties from the past samples and use this information to compensate for the uncertainty in the next sample period. We compare the performance and robustness… Advisors/Committee Members: Hovakimyan, Naira (advisor), Hovakimyan, Naira (Committee Chair), Basar, Tamer (committee member), Stipanović, Dušan M. (committee member), Salapaka, Srinivasa M. (committee member).

Subjects/Keywords: autonomous system; unmanned system; distributed control; Adaptive Control; cooperative control; vision based guidance

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Li, Z. (2014). Guidance, control and estimation of autonomous vehicle systems. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/46871

Chicago Manual of Style (16^th Edition):

Li, Zhiyuan. “Guidance, control and estimation of autonomous vehicle systems.” 2014. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed January 19, 2021. http://hdl.handle.net/2142/46871.

MLA Handbook (7^th Edition):

Li, Zhiyuan. “Guidance, control and estimation of autonomous vehicle systems.” 2014. Web. 19 Jan 2021.

Vancouver:

Li Z. Guidance, control and estimation of autonomous vehicle systems. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2014. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/2142/46871.

Council of Science Editors:

Li Z. Guidance, control and estimation of autonomous vehicle systems. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2014. Available from: http://hdl.handle.net/2142/46871

Indian Institute of Science

25. Bansal, Gaurav. Cooperative Communication In Store And Forward Wireless Networks Using Rateless Codes.

Degree: MSc Engg, Faculty of Engineering, 2013, Indian Institute of Science

URL: http://etd.iisc.ac.in/handle/2005/2225

► In this thesis, we consider a cooperative relay-assisted communication system that uses rateless codes. When multiple relays are present, the relay with the highest channel… (more)

▼ In this thesis, we consider a cooperative relay-assisted communication system that uses rateless codes. When multiple relays are present, the relay with the highest channel gain to the source is the first to successfully decode a message from the source and forward it to the destination. Thus, the unique properties of rateless codes ensure that both rate adaptation and relay selection occur without the transmitting source or relays acquiring instantaneous channel knowledge. We show that in such cooperative systems, buffering messages at relays significantly increases throughput. We develop a novel analysis of these systems that combines the communication-theoretic aspects of cooperation over fading channels with the queuing-theoretic aspects associated with buffering. Closed-form expressions are derived for the throughput and end-to-end delay for the general case in which the channels between various nodes are not statistically identical. Results are also shown for the benchmark system that does not buffer messages. Though relay selection combined with buffering of messages at the relays substantially increases the throughput of a cooperative network, it also increases the end-to-end delays due to the additional queuing delays at the relay nodes. In order to overcome this, we propose a novel method that exploits a unique property of rateless codes that enables a receiver to decode a message from non-contiguous and unordered portions of the received signal. In it, each relay, depending on its queue length, ignores its received coded bits with a given probability. We show that this substantially reduces the end-to-end delays while retaining almost all of the throughput gain achieved by buffering. In effect, the method increases the odds that the message is first decoded by a relay with a smaller queue. Thus, the queuing load is balanced across the relays and traded off with transmission times. We derive conditions for the stability of this system when the various channels undergo fading. Despite encountering analytically intractable G/GI/1 queues in our system, we also gain insights about the method by analyzing a similar system with a simpler model for the relay-to-destination transmission times. Next we combine the single relay selection scheme at the source with physical layer power control at the relays (due to the diversity provided by the rateless codes, power control at the source is not needed). We derive an optimal power control policy that minimizes the relay to destination transmission time. Due to its computational and implementation complexity, we develop another heuristic easily implementable near optimal policy. In this policy, power allocated turns out to be inversely proportional to the square root of channel gain. We also see that this policy performs better than the channel inversion policy. Our power control solution substantially decreases the mean end-to-end delays with a marginal increase in throughput also. Finally, we combine bit dropping with power control at the relays which further… Advisors/Committee Members: Sharma, Vinod (advisor).

Subjects/Keywords: Wireless Communication Networks; Cooperative Relay-Assisted Communication; Queued Cooperative Communication; Rateless Codes; Relay Load Balancing; Relays - Power Control; Queued Cooperative Wireless Networks; Cooperative System; Buffered Relays; Communication Engineering

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Bansal, G. (2013). Cooperative Communication In Store And Forward Wireless Networks Using Rateless Codes. (Masters Thesis). Indian Institute of Science. Retrieved from http://etd.iisc.ac.in/handle/2005/2225

Chicago Manual of Style (16^th Edition):

Bansal, Gaurav. “Cooperative Communication In Store And Forward Wireless Networks Using Rateless Codes.” 2013. Masters Thesis, Indian Institute of Science. Accessed January 19, 2021. http://etd.iisc.ac.in/handle/2005/2225.

MLA Handbook (7^th Edition):

Bansal, Gaurav. “Cooperative Communication In Store And Forward Wireless Networks Using Rateless Codes.” 2013. Web. 19 Jan 2021.

Vancouver:

Bansal G. Cooperative Communication In Store And Forward Wireless Networks Using Rateless Codes. [Internet] [Masters thesis]. Indian Institute of Science; 2013. [cited 2021 Jan 19]. Available from: http://etd.iisc.ac.in/handle/2005/2225.

Council of Science Editors:

Bansal G. Cooperative Communication In Store And Forward Wireless Networks Using Rateless Codes. [Masters Thesis]. Indian Institute of Science; 2013. Available from: http://etd.iisc.ac.in/handle/2005/2225

York University

26. Liu, Lei. Cooperative Control of Nonlinear Multi-Agent Systems.

Degree: PhD, Earth & Space Science, 2016, York University

URL: http://hdl.handle.net/10315/32733

► Multi-agent systems have attracted great interest due to their potential applications in a variety of areas. In this dissertation, a nonlinear consensus algorithm is developed… (more)

▼ Multi-agent systems have attracted great interest due to their potential applications in a variety of areas. In this dissertation, a nonlinear consensus algorithm is developed for networked Euler-Lagrange multi-agent systems. The proposed consensus algorithm guarantees that all agents can reach a common state in the workspace. Meanwhile, the external disturbances and structural uncertainties are fundamentally considered in the controller design. The robustness of the proposed consensus algorithm is then demonstrated in the stability analysis. Furthermore, experiments are conducted to validate the effectiveness of the proposed consensus algorithm. Next, a distributed leader-follower formation tracking controller is developed for networked nonlinear multi-agent systems. The dynamics of each agent are modeled by Euler-Lagrange equations, and all agents are guaranteed to track a desired time-varying trajectory in the presence of noise. The fault diagnosis strategy of the nonlinear multi-agent system is also investigated with the help of differential geometry tools. The effectiveness of the proposed controller is verified through simulations. To further extend the application area of the multi-agent technique, a distributed robust controller is then developed for networked Lipschitz nonlinear multi-agent systems. With the appearance of system uncertainties and external disturbances, a sampled-data feedback control protocol is carried out through the Lyapunov functional approach. The effectiveness of the proposed controller is verified by numerical simulations. Other than the robustness and sampled-data information exchange, this dissertation is also concerned with the event-triggered consensus problem for the Lipschitz nonlinear multi-agent systems. Furthermore, the sufficient condition for the stochastic stabilization of the networked control system is proposed based on the Lyapunov functional method. Finally, simulation is conducted to demonstrate the effectiveness of the proposed control algorithm. In this dissertation, the cooperative control of networked Euler-Lagrange systems and networked Lipschitz systems is investigated essentially with the assistance of nonlinear control theory and diverse controller design techniques. The main objective of this work is to propose realizable control algorithms for nonlinear multi-agent systems. Advisors/Committee Members: Shan, Jinjun (advisor).

Subjects/Keywords: Mathematics; Control theory; Consensus; Cooperative control; Robust control; Nonlinear control; Synchronization; Multi-agent systems; Sampled-data control; Fault diagnosis

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Liu, L. (2016). Cooperative Control of Nonlinear Multi-Agent Systems. (Doctoral Dissertation). York University. Retrieved from http://hdl.handle.net/10315/32733

Chicago Manual of Style (16^th Edition):

Liu, Lei. “Cooperative Control of Nonlinear Multi-Agent Systems.” 2016. Doctoral Dissertation, York University. Accessed January 19, 2021. http://hdl.handle.net/10315/32733.

MLA Handbook (7^th Edition):

Liu, Lei. “Cooperative Control of Nonlinear Multi-Agent Systems.” 2016. Web. 19 Jan 2021.

Vancouver:

Liu L. Cooperative Control of Nonlinear Multi-Agent Systems. [Internet] [Doctoral dissertation]. York University; 2016. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/10315/32733.

Council of Science Editors:

Liu L. Cooperative Control of Nonlinear Multi-Agent Systems. [Doctoral Dissertation]. York University; 2016. Available from: http://hdl.handle.net/10315/32733

27. [No author]. A pr??tica da Controladoria nas maiores sociedades cooperativas agroindustriais do Estado do Paran?? .

Degree: 2013, Fundação Escola de Comércio Ãlvares Penteado

URL: http://132.0.0.61:8080/tede/handle/tede/521

► The study examined the characteristics of the controller identified in cooperative societies to complement the studies of researchers linked to the accounting features and functions… (more)

Subjects/Keywords: Controladoria; Cooperativas; Controle financeiro; Controllership; Financial control; Cooperative societies

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APA (6^th Edition):

author], [. (2013). A pr??tica da Controladoria nas maiores sociedades cooperativas agroindustriais do Estado do Paran?? . (Thesis). Fundação Escola de Comércio Ãlvares Penteado. Retrieved from http://132.0.0.61:8080/tede/handle/tede/521

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

author], [No. “A pr??tica da Controladoria nas maiores sociedades cooperativas agroindustriais do Estado do Paran?? .” 2013. Thesis, Fundação Escola de Comércio Ãlvares Penteado. Accessed January 19, 2021. http://132.0.0.61:8080/tede/handle/tede/521.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

author], [No. “A pr??tica da Controladoria nas maiores sociedades cooperativas agroindustriais do Estado do Paran?? .” 2013. Web. 19 Jan 2021.

Vancouver:

author] [. A pr??tica da Controladoria nas maiores sociedades cooperativas agroindustriais do Estado do Paran?? . [Internet] [Thesis]. Fundação Escola de Comércio Ãlvares Penteado; 2013. [cited 2021 Jan 19]. Available from: http://132.0.0.61:8080/tede/handle/tede/521.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

author] [. A pr??tica da Controladoria nas maiores sociedades cooperativas agroindustriais do Estado do Paran?? . [Thesis]. Fundação Escola de Comércio Ãlvares Penteado; 2013. Available from: http://132.0.0.61:8080/tede/handle/tede/521

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

28. Iskandarani, Mohamad. Implementing Autonomous Unmanned Aerial Vehicle Tactics on Quadrotor Aircraft Using Linear Model Predictive Control.

Degree: MASc (Master of Applied Science/Maîtrise ès sciences appliquées), Electrical and Computer Engineering/Génie électrique et informatique, 2014, Royal Military College of Canada

URL: http://hdl.handle.net/11264/62

►

UAVs are gaining great interest due to their wide area of applications in the military and civilian fields. Applying these UAVs autonomously and in a… (more)

▼

UAVs are gaining great interest due to their wide area of applications in the military and civilian fields. Applying these UAVs autonomously and in a decentralized manner to the accomplishment of various tasks is a growing trend in the field of cooperative robotics. Among these challenging group tasks we find certain UAV tactics, such as dynamic encirclement and formation flights, operating under the umbrella of safe and robust tactic switching. Dynamic encirclement is defined as the situation in which a target is isolated and surrounded by a UAV team in order to maintain awareness and containment of it. Formation flights allow for line abreast, triangle or cross formations while in flight, during which the team members match distance and speed with the others. In this thesis, the problem of switching from formation flights to dynamic encirclement is considered, and a decentralized Linear Model Predictive Control (LMPC) strategy is formulated. Other control techniques such Taylor series linearization (TSL) and Feedback Linearization (FL) are used to linearize the complex tactics models. It is shown, through simulation results and experimental validation, that the designed control policy is effective for a team of N UAVs in formation flights switching to dynamic encirclement of a stationary and moving target. With real-world flight tests, the Qball-X4 quadrotor aircraft is used as a validation platform.

Les drones, appliqu és aux domaines civiles et militaires, ont suscit és un int erêt croissant à cause de leur potentiel. L'utilisation des drones, d'une fa çon autonome et d écentralis ée, pour l'accomplissement de taches vari ées est une tendance croissante dans la communaut é de la robotique coop erative. Parmi ces taches complexes, on trouve des tactiques de drones, tels que l'encerclement dynamique et les vols en formations, o u les v éhicules accomplissent un transfert stable et robuste d'une tactique à l'autre. Limiter le mouvement et avoir conscience d'une cible est consid er é comme partie int egrante de l'encerclement dynamique. Les vols en formations, tels que ligne de front, triangle et croix, permettent aux membres de l' équipe de maintenir les distances et les vitesses requises par rapport aux autres. Dans ce m emoire, le probl ème de transfert stable des vols en formation à l'encerclement dynamique est consid er é et une strat egie de commande pr édictive lin eaire est formul ée. Autres techniques de controles, telles que la lin earisation par s eries de Taylor et la lin earisation par r etroaction, sont employ ées pour simplifi er les mod èles non-lin eaires repr esentants les tactiques. Il est d emontr é, à travers des r esultats en simulation et des validations exp érimentales, que la politique de controle propos ée est e fficace pour une equipe de N drones qui changent de vols en formation à encerclement dynamique. Par rapport aux vols exp erimentaux, le quadrirotor Qball-X4 est utilis é.

Graduate

Advisors/Committee Members: Royal Military College of Canada / Collège militaire royal du Canada, Givigi, Sidney.

Subjects/Keywords: Autonomous robotics; Cooperative robotics; Unmanned aerial vehicle; Linear model predictive control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Iskandarani, M. (2014). Implementing Autonomous Unmanned Aerial Vehicle Tactics on Quadrotor Aircraft Using Linear Model Predictive Control. (Masters Thesis). Royal Military College of Canada. Retrieved from http://hdl.handle.net/11264/62

Chicago Manual of Style (16^th Edition):

Iskandarani, Mohamad. “Implementing Autonomous Unmanned Aerial Vehicle Tactics on Quadrotor Aircraft Using Linear Model Predictive Control.” 2014. Masters Thesis, Royal Military College of Canada. Accessed January 19, 2021. http://hdl.handle.net/11264/62.

MLA Handbook (7^th Edition):

Iskandarani, Mohamad. “Implementing Autonomous Unmanned Aerial Vehicle Tactics on Quadrotor Aircraft Using Linear Model Predictive Control.” 2014. Web. 19 Jan 2021.

Vancouver:

Iskandarani M. Implementing Autonomous Unmanned Aerial Vehicle Tactics on Quadrotor Aircraft Using Linear Model Predictive Control. [Internet] [Masters thesis]. Royal Military College of Canada; 2014. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/11264/62.

Council of Science Editors:

Iskandarani M. Implementing Autonomous Unmanned Aerial Vehicle Tactics on Quadrotor Aircraft Using Linear Model Predictive Control. [Masters Thesis]. Royal Military College of Canada; 2014. Available from: http://hdl.handle.net/11264/62

University of California – Berkeley

29. Mace-Hill, Kevi Claire. Understanding, using, and promoting biological control: from commercial walnut orchards to school gardens.

Degree: Environmental Science, Policy, & Management, 2015, University of California – Berkeley

URL: http://www.escholarship.org/uc/item/5jh3v7k9

► Growing populations and changing diets have put great pressure on food systems throughout the world and have lead to increasing agricultural intensification including the greater… (more)

▼ Growing populations and changing diets have put great pressure on food systems throughout the world and have lead to increasing agricultural intensification including the greater use of pesticides and fertilizers. Given the associated human and environmental health costs of intensification, the development of more sustainable practices is imperative. One such avenue is to make better use of natural ecosystem services, such as the use of conservation biological control to reduce reliance on pesticide. However, there are logistical and educational impediments to the more effective use of resident natural enemies through conservation biological control that need to be addressed. These include how other agricultural management practices impact biological control, and how managers can tell if it is working or when it will work. Along with pesticides, fertilizers are a defining aspect of modern agriculture, but their effect on biological control services has seldom been evaluated. The effects of plant quality on natural enemies are often overlooked developing biological control programs for insect pests in agriculture. An enhanced nutritional status of plants can fuel insect population growth because nitrogen is an important component of proteins that are known to be limiting for phytophagous insects. Additionally, nitrogen fertilizers directly and indirectly affect plant defenses. In this dissertation I used walnuts to address the effect of increased nitrogen availability to the host plant on walnut aphid it{Chromaphis juglandicola} and on parasitism by the specialist parasitoid it{Trioxys pallidus}. From laboratory experiments and field sampling, nitrogen content of foliage did not change aphid population growth rate or aphid size. However, in laboratory experiments added nitrogen decreased the number of mummies produced by female parasitoids over a 24 h period, but increased the proportion and the size of female offspring. Field sampling of walnut orchards showed no relationship between the percent parasitism of walnut aphids by it{T. pallidus} and nitrogen content of foliage. Although nitrogen fertilizer and plant quality can affect biological control in other crops, it did not appear to be a problem for biological control of walnut aphids.Biological control in action is often hard to visualize and even more difficult to quantify in the context of pest population management. Readily measured metrics are needed to accurately predict the effectiveness of biological control services: this would then allow managers to say, given this set of measurements, control of an insect pest can be expected today or at some point in the near future. Using walnuts and walnut aphids as a model system, I investigated whether activity measurements and diversity indices for the natural enemy assemblages present in walnut orchards would be good indicators of current and future biological control. While percent parasitism, predator:prey ratio, and natural enemy evenness were good indicators of current biological control, there…

Subjects/Keywords: Ecology; Entomology; Agriculture; Biological control; Cooperative Extension; Gardens; Natural enemies; Walnuts

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mace-Hill, K. C. (2015). Understanding, using, and promoting biological control: from commercial walnut orchards to school gardens. (Thesis). University of California – Berkeley. Retrieved from http://www.escholarship.org/uc/item/5jh3v7k9

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mace-Hill, Kevi Claire. “Understanding, using, and promoting biological control: from commercial walnut orchards to school gardens.” 2015. Thesis, University of California – Berkeley. Accessed January 19, 2021. http://www.escholarship.org/uc/item/5jh3v7k9.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mace-Hill, Kevi Claire. “Understanding, using, and promoting biological control: from commercial walnut orchards to school gardens.” 2015. Web. 19 Jan 2021.

Vancouver:

Mace-Hill KC. Understanding, using, and promoting biological control: from commercial walnut orchards to school gardens. [Internet] [Thesis]. University of California – Berkeley; 2015. [cited 2021 Jan 19]. Available from: http://www.escholarship.org/uc/item/5jh3v7k9.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mace-Hill KC. Understanding, using, and promoting biological control: from commercial walnut orchards to school gardens. [Thesis]. University of California – Berkeley; 2015. Available from: http://www.escholarship.org/uc/item/5jh3v7k9

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Australian National University

30. Sun, Zhiyong. Cooperative Coordination and Formation Control for Multi-agent Systems .

Degree: 2016, Australian National University

URL: http://hdl.handle.net/1885/112237

► The primary aim of this thesis is to study cooperative coordination control and formation control for multi-agent systems, with a focus on distributed stabilization control… (more)

▼ The primary aim of this thesis is to study cooperative coordination control and formation control for multi-agent systems, with a focus on distributed stabilization control of rigid formation shapes. We consider several problems in the field, ranging from the equilibrium and stability of formation control systems, some practical considerations in formation control, and cooperative coordination control when agents have general dynamical models. In the first part of the thesis, we study in detail the equilibrium property of rigid formation control systems. A rank-preserving property is established for this coordination control system, and with this property we further prove the instability of a special equilibrium set (termed degenerate equilibria) at which agents' positions only span an affine space with dimension less than that of the full space. The exponential stability of rigid formation control systems for a large family of formation controllers is also proved, with the property applying for both minimally rigid formations and non-minimally rigid formations. This approach provides a general and unified way for stability analysis of formation control systems. In the second part, we investigate several practical issues on formation control, including robustness issues, rigid shape stabilization with a prescribed orientation, and formation control with quantized measurements. From the exponential stability proved in the first part, we discuss the convergence and robustness property for 3-D rigid formation control systems with distance mismatches, and identify a helical rigid motion induced by mismatched distances. In addition, we propose a feasible formation controller to achieve a desired rigid shape and a prescribed formation orientation in ambient 2-D and 3-D spaces, with minimal knowledge of the global coordinate frame orientation. Furthermore, quantization effects on rigid formation shape stabilization are discussed in detail in the case that the cooperative formation control only uses quantized distance measurements. In the third part, we extend some main results considered in previous chapters on formation control systems modelled by single integrators to systems modelled by more general dynamics, including double integrator models and nonlinear control systems. First, two types of double-integrator cooperative control systems (i.e. formation stabilization systems and flocking control systems with a target rigid shape) are thoroughly investigated. By using a family of parameterized Hamiltonian-like systems, we further establish certain invariance principles concerning the equilibrium set and local stability, which build the link between the stability analysis for formation systems modelled by single integrators and those modelled by double integrators. In …

Subjects/Keywords: Multi-agent Systems; Cooperative Coordination; Formation Control; Networked Systems; Stability

Record Details Similar Records Cite « Share

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sun, Z. (2016). Cooperative Coordination and Formation Control for Multi-agent Systems . (Thesis). Australian National University. Retrieved from http://hdl.handle.net/1885/112237

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Sun, Zhiyong. “Cooperative Coordination and Formation Control for Multi-agent Systems .” 2016. Thesis, Australian National University. Accessed January 19, 2021. http://hdl.handle.net/1885/112237.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Sun, Zhiyong. “Cooperative Coordination and Formation Control for Multi-agent Systems .” 2016. Web. 19 Jan 2021.

Vancouver:

Sun Z. Cooperative Coordination and Formation Control for Multi-agent Systems . [Internet] [Thesis]. Australian National University; 2016. [cited 2021 Jan 19]. Available from: http://hdl.handle.net/1885/112237.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Sun Z. Cooperative Coordination and Formation Control for Multi-agent Systems . [Thesis]. Australian National University; 2016. Available from: http://hdl.handle.net/1885/112237

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Open Access Theses and Dissertations