Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE credits
Recent developments in the theoretical field of multi-agent systems and
cooperative control have driven a growing interest towards the area of autonomous
transportation, surveillance and other applications. This thesis is
an attempt to close the gap between the fields of theoretical and experimental
To close this gap it is essential to create a reliable software and hardware
infrastructure that can be used to test the applicability and performance of
the controllers developed in theory under artificial constrains. In this thesis
we will present a feasible implementation of an experimental testbed, covering
both the hardware and software components of it.
To build this testbed and show its operability, scenarios of multi-agent systems
such as platooning and surveillance were implemented using scale models
of Scania trucks and quadrotors. In this thesis we study the problem starting
with the theoretical analysis of the vehicle dynamics, performing simulations
and finally carrying out the experiments in the testbed.
The result of this thesis is a reliable and versatile testbed that can be
used to perform demonstrations of multi-agent robotic systems. The core of
the program is developed in LabVIEW, the wireless communication is done
using NesC and TinyOS, the simulations are developed in Simulink and the
Visualization Engine is written in C++.
The path taken to build this testbed has proven to be successful, allowing
us to control multiple vehicles simultaneously under the intuitive LabVIEW
programming environment. This document serves as a guide for those who
wish to carry out experiments using the infrastructure developed here or those
who wish to improve upon the existing work.
2012. , 182 p.
Dimarogonas, Dimos V.