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Multi-robot formations: Rule-based s...

Naffin, David James.

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Multi-robot formations: Rule-based synthesis and stability analysis.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Multi-robot formations: Rule-based synthesis and stability analysis./
Author:	Naffin, David James.
Description:	102 p.
Notes:	Source: Dissertation Abstracts International, Volume: 67-10, Section: B, page: 5854.
Contained By:	Dissertation Abstracts International67-10B.
Subject:	Engineering, Electronics and Electrical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3237114
ISBN:	9780542909160

Multi-robot formations: Rule-based synthesis and stability analysis.
Naffin, David James.

Multi-robot formations: Rule-based synthesis and stability analysis. - 102 p.

Source: Dissertation Abstracts International, Volume: 67-10, Section: B, page: 5854.

Thesis (Ph.D.)--University of Southern California, 2006.

This thesis addresses three aspects of the multi-robot formation problem. Our contributions are: a novel "bottom-up" approach to formation assembly, a formal model for describing the assembly coordination based on a sequence of graph transformations, and a set of control policies that eliminate string instability within a formation. Specifically, we present a decentralized approach to assembling and maintaining robot formations. Starting with a collection of single robots, our approach assembles platoons, or line segments of robots, followed by larger, more complex formations. Formation growth occurs by negotiation when robots are in close proximity and is governed by a set of simple rules based on a graph grammar. We formally define robot formations as directed graphs and define a rule-based graph grammar that describes the assembly coordination. Using this formalism we state and validate three hypotheses: First, given a desired formation there exists a set of rules which cause the formation to be created, Second, given such a set of rules, a controller for each robot can be designed which when executed on a set of robots will cause the robots to assemble in the proper formation, and third, this controller has the necessary stability properties for disturbance rejection. Experimental validation for these hypotheses is provided in simulation and in limited tests on physical non-holonomic robots.

ISBN: 9780542909160Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Multi-robot formations: Rule-based synthesis and stability analysis.
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100 1 $a Naffin, David James. $3 1919489
245 1 0 $a Multi-robot formations: Rule-based synthesis and stability analysis.
300 $a 102 p.
500 $a Source: Dissertation Abstracts International, Volume: 67-10, Section: B, page: 5854.
500 $a Adviser: Gaurav S. Sukhatme.
502 $a Thesis (Ph.D.)--University of Southern California, 2006.
520 $a This thesis addresses three aspects of the multi-robot formation problem. Our contributions are: a novel "bottom-up" approach to formation assembly, a formal model for describing the assembly coordination based on a sequence of graph transformations, and a set of control policies that eliminate string instability within a formation. Specifically, we present a decentralized approach to assembling and maintaining robot formations. Starting with a collection of single robots, our approach assembles platoons, or line segments of robots, followed by larger, more complex formations. Formation growth occurs by negotiation when robots are in close proximity and is governed by a set of simple rules based on a graph grammar. We formally define robot formations as directed graphs and define a rule-based graph grammar that describes the assembly coordination. Using this formalism we state and validate three hypotheses: First, given a desired formation there exists a set of rules which cause the formation to be created, Second, given such a set of rules, a controller for each robot can be designed which when executed on a set of robots will cause the robots to assemble in the proper formation, and third, this controller has the necessary stability properties for disturbance rejection. Experimental validation for these hypotheses is provided in simulation and in limited tests on physical non-holonomic robots.
590 $a School code: 0208.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Robotics. $3 1018454
650 4 $a Computer Science. $3 626642
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710 2 0 $a University of Southern California. $3 700129
773 0 $t Dissertation Abstracts International $g 67-10B.
790 1 0 $a Sukhatme, Gaurav S., $e advisor
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791 $a Ph.D.
792 $a 2006
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