Matches in SemOpenAlex for { <https://semopenalex.org/work/W137684302> ?p ?o ?g. }
- W137684302 abstract "This thesis deals with distributed control strategies for cooperative control of multi-robot systems. Specifically, distributed coordination strategies are presented for groups of mobile robots.The formation control problem is initially solved exploiting artificial potential fields. The purpose of the presented formation control algorithm is to drive a group of mobile robots to create a completely arbitrarily shaped formation. Robots are initially controlled to create a regular polygon formation. A bijective coordinate transformation is then exploited to extend the scope of this strategy, to obtain arbitrarily shaped formations. For this purpose, artificial potential fields are specifically designed, and robots are driven to follow their negative gradient.Artificial potential fields are then subsequently exploited to solve the coordinated path tracking problem, thus making the robots autonomously spread along predefined paths, and move along them in a coordinated way.Formation control problem is then solved exploiting a consensus based approach. Specifically, weighted graphs are used both to define the desired formation, and to implement collision avoidance. As expected for consensus based algorithms, this control strategy is experimentally shown to be robust to the presence of communication delays.The global connectivity maintenance issue is then considered. Specifically, an estimation procedure is introduced to allow each agent to compute its own estimate of the algebraic connectivity of the communication graph, in a distributed manner. This estimate is then exploited to develop a gradient based control strategy that ensures that the communication graph remains connected, as the system evolves. The proposed control strategy is developed initially for single-integrator kinematic agents, and is then extended to Lagrangian dynamical systems." @default.
- W137684302 created "2016-06-24" @default.
- W137684302 creator A5046246429 @default.
- W137684302 date "2012-04-02" @default.
- W137684302 modified "2023-09-23" @default.
- W137684302 title "Nonlinear Control Strategies for Cooperative Control of Multi-Robot Systems" @default.
- W137684302 cites W1527943502 @default.
- W137684302 cites W1548879090 @default.
- W137684302 cites W1560270123 @default.
- W137684302 cites W1576347883 @default.
- W137684302 cites W1587744656 @default.
- W137684302 cites W1602384651 @default.
- W137684302 cites W1965762077 @default.
- W137684302 cites W1967467000 @default.
- W137684302 cites W1974676331 @default.
- W137684302 cites W1991596047 @default.
- W137684302 cites W1993693205 @default.
- W137684302 cites W2031612713 @default.
- W137684302 cites W2034591033 @default.
- W137684302 cites W2037632445 @default.
- W137684302 cites W2046410469 @default.
- W137684302 cites W2050833469 @default.
- W137684302 cites W2052142439 @default.
- W137684302 cites W2059252314 @default.
- W137684302 cites W2061745415 @default.
- W137684302 cites W2070842753 @default.
- W137684302 cites W2074032690 @default.
- W137684302 cites W2074542318 @default.
- W137684302 cites W2075675490 @default.
- W137684302 cites W2076542112 @default.
- W137684302 cites W2078320450 @default.
- W137684302 cites W2088541629 @default.
- W137684302 cites W2098194630 @default.
- W137684302 cites W2100920791 @default.
- W137684302 cites W2103120971 @default.
- W137684302 cites W2103365740 @default.
- W137684302 cites W2105837036 @default.
- W137684302 cites W2105850748 @default.
- W137684302 cites W2106643557 @default.
- W137684302 cites W2107396783 @default.
- W137684302 cites W2107723135 @default.
- W137684302 cites W2111308925 @default.
- W137684302 cites W2114831127 @default.
- W137684302 cites W2115558907 @default.
- W137684302 cites W2118812760 @default.
- W137684302 cites W2119005343 @default.
- W137684302 cites W2119120935 @default.
- W137684302 cites W2123655283 @default.
- W137684302 cites W2124158836 @default.
- W137684302 cites W2127347155 @default.
- W137684302 cites W2127384374 @default.
- W137684302 cites W2129215875 @default.
- W137684302 cites W2130531356 @default.
- W137684302 cites W2142924305 @default.
- W137684302 cites W2144827113 @default.
- W137684302 cites W2146174147 @default.
- W137684302 cites W2146890818 @default.
- W137684302 cites W2148815784 @default.
- W137684302 cites W2150010456 @default.
- W137684302 cites W2151856625 @default.
- W137684302 cites W2152244994 @default.
- W137684302 cites W2156998846 @default.
- W137684302 cites W2158820400 @default.
- W137684302 cites W2159036490 @default.
- W137684302 cites W2160643434 @default.
- W137684302 cites W2161522176 @default.
- W137684302 cites W2166967570 @default.
- W137684302 cites W2170909269 @default.
- W137684302 cites W2240585996 @default.
- W137684302 cites W238042087 @default.
- W137684302 cites W247697463 @default.
- W137684302 cites W2799004609 @default.
- W137684302 cites W2995136929 @default.
- W137684302 doi "https://doi.org/10.6092/unibo/amsdottorato/4465" @default.
- W137684302 hasPublicationYear "2012" @default.
- W137684302 type Work @default.
- W137684302 sameAs 137684302 @default.
- W137684302 citedByCount "0" @default.
- W137684302 crossrefType "journal-article" @default.
- W137684302 hasAuthorship W137684302A5046246429 @default.
- W137684302 hasConcept C120314980 @default.
- W137684302 hasConcept C121332964 @default.
- W137684302 hasConcept C132525143 @default.
- W137684302 hasConcept C154945302 @default.
- W137684302 hasConcept C19966478 @default.
- W137684302 hasConcept C25799778 @default.
- W137684302 hasConcept C2775924081 @default.
- W137684302 hasConcept C39920418 @default.
- W137684302 hasConcept C41008148 @default.
- W137684302 hasConcept C41550386 @default.
- W137684302 hasConcept C47446073 @default.
- W137684302 hasConcept C74650414 @default.
- W137684302 hasConcept C80444323 @default.
- W137684302 hasConcept C90509273 @default.
- W137684302 hasConceptScore W137684302C120314980 @default.
- W137684302 hasConceptScore W137684302C121332964 @default.
- W137684302 hasConceptScore W137684302C132525143 @default.
- W137684302 hasConceptScore W137684302C154945302 @default.
- W137684302 hasConceptScore W137684302C19966478 @default.
- W137684302 hasConceptScore W137684302C25799778 @default.