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Item type:Publication, Access status: with files , Flocking and formation as mission control strategies for multi-agent systems : comparative evaluation and development of a cooperative approachIn this work novel mission control strategies are proposed for multiagent systems, that can be applied to scenarios such as source seeking and level curve tracking. A gradient-based method for source seeking and subsequent level curve tracking is presented, where the agents reach discrete consensus on whether they should switch from Task 1 to Task 2. Moreover, a gradient-free flocking-based approach to the source seeking problem is developed that is based on glowworm swarm optimization. The multiple-source-seeking problem for time-varying communication topologies is solved using a combination of bio-inspired attraction with estimated gradient and formation control, where task-switching is performed under a linear temporal logic rule. Finally an approach that combines flocking and formation control techniques is presented, where low-level agents attain a specified formation, while the formation leaders at the upper level flock to locate an unknown extremum. Convergence analysis for all methods is provided, together with simulation results and experimental validation.Publicationtype: Doctoral Thesis316 595 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Cooperative source seeking and level curve tracking for multi-agent systemsIn this thesis, the cooperative source seeking and the level curve tracking problem using a group of agents under an undirected constrained communication topology are addressed. To solve it, distributed control algorithms enabling agents to drive towards an unknown scalar field's source or to move along a desired scalar field's level curve are proposed. Each agent estimates a gradient direction based only on neighbouring agents' relative position information and scalar field's concentration values at their own location. The control algorithms presented are based on both a formation control component ( keeping agents in a desired geometric driving pattern) and a trajectory control component (steering agents in the source's direction or along the desired level curve). Along this work single and double integrators are considered, as well as linear time invariant (LTI) and non-holonomic systems. Stability conditions and simulation results are provided for single and double integrators, as well as for LTI systems.Publicationtype: Doctoral Thesis783 840 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Abschätzungen und Iterationsverfahren für Polynom-Nullstellen(1999); Publicationtype: Doctoral Thesis85