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Multiagent cooperative coverage control
KTH, School of Electrical Engineering (EES).
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 HE creditsStudent thesis
Abstract [en]

In this work, the problem of deploying a team of mobile sensing agents to provide coverage of an environment is addressed. We propose a novel distributed algorithm to generate a sequence of waypoints for each agent, based on intermittent communication between the agents. The algorithm is shown to converge to an equilibrium configuration, while a measure of the environment coverage is shown to be monotonically nondecreasing. To fulfill the task of moving the agents to the designated waypoints, we develop a non-linear control algorithm based on backstepping, as well as a path planning strategy that uses potential field navigation and collision avoidance. All the proposed algorithms are tested in a simulated environment and on real-world aerial robots.

Place, publisher, year, edition, pages
2016. , 63 p.
Series
EES Examensarbete / Master Thesis, TRITA-EE 2016:065
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-187712OAI: oai:DiVA.org:kth-187712DiVA: diva2:931263
Examiners
Available from: 2016-05-27 Created: 2016-05-27 Last updated: 2016-05-27Bibliographically approved

Open Access in DiVA

fulltext(6877 kB)140 downloads
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf