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Flocking and formation as mission control strategies for multi-agent systems : comparative evaluation and development of a cooperative approach
Citation Link: https://doi.org/10.15480/882.3716
Publikationstyp
Doctoral Thesis
Date Issued
2021
Sprache
English
Author(s)
Advisor
Referee
Title Granting Institution
Technische Universität Hamburg
Place of Title Granting Institution
Hamburg
Examination Date
2021-05-20
Institut
TORE-DOI
Citation
Dr. Hut 978-3-8439-4853-1: (2021)
Publisher
Dr. Hut
In 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.
Subjects
Multi-agent systems
Cooperative control
Flocking
Formation control Source-seeking
Autonomous robotic systems
DDC Class
600: Technik
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Name
Avraham Turgeman PhD.pdf
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7.2 MB
Format
Adobe PDF