Date of Award

1-1-2019

Publication Type

Master Thesis

Degree Name

M.A.Sc.

Department

Electrical and Computer Engineering

First Advisor

Xiang Chen

Keywords

Distributed Control, Formation Control, Visual Constaint

Rights

info:eu-repo/semantics/embargoedAccess

Creative Commons License

Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License.

Abstract

Formation control combined with different tasks enables a group of robots to reach a geographical location, avoid a collision, and simultaneously maintain the designed formation pattern. The connection and perception are critical for a multi-agent formation system, mainly when the robots only use vision as a communication method. However, most visual sensors have limited Field-of-view (FOV), which leaves some blind zones. In this case, a gradient-based distributed control law can be designed to keep every robot in the visible zones of other robots during the formation. This control strategy is designed to be processed independently on each vehicle with no network connection. This thesis assesses the feasibility of applying the gradient descent method to the problem of visual constraint vehicle formation.

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