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Coordinated Control Strategies for S...

Tabasso, Camilla,

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Coordinated Control Strategies for Safe Execution of Multi-Vehicle Autonomous Missions /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Coordinated Control Strategies for Safe Execution of Multi-Vehicle Autonomous Missions // Camilla Tabasso.
Author:	Tabasso, Camilla,
Description:	1 electronic resource (139 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 86-08, Section: B.
Contained By:	Dissertations Abstracts International86-08B.
Subject:	Mechanical engineering. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31761266
ISBN:	9798302853257

Coordinated Control Strategies for Safe Execution of Multi-Vehicle Autonomous Missions /
Tabasso, Camilla,

Coordinated Control Strategies for Safe Execution of Multi-Vehicle Autonomous Missions /Camilla Tabasso. - 1 electronic resource (139 pages)

Source: Dissertations Abstracts International, Volume: 86-08, Section: B.

Autonomous Vehicles (AVs) are becoming an integral part of our daily lives, playing crucial roles in both civil and military sectors. Cooperative fleets of AVs, in particular, offer several advantages in terms of robustness and efficiency. Despite significant advancements in this research area, a lack of safety guarantees still limits the employment of collaborative missions for many real-world applications, especially in complex environments.To address this limitation, this thesis presents robust and efficient coordination and collision avoidance algorithms to enable a fleet of AVs to safely and efficiently navigate their environments. Two distinct speed adjustment solutions for coordinated control are proposed, accommodating different assumptions about the communication capabilities of the agents. These algorithms are designed to be applicable to heterogeneous groups of vehicles, enhancing flexibility, scalability, and cost-effectiveness. Additionally, this work addresses the practical challenges inherent in real-world applications, such as the dynamic limitations of vehicles, constrained communication capabilities in terms of range and bandwidth, and the issues posed by noisy or intermittent sensing. Addressing these issues is vital for the practical applicability and operational viability of the proposed solutions. It is shown that together with trajectory generation and target tracking algorithms, the control laws proposed in this thesis provide a cooperative control framework for safe execution of multi-vehicle autonomous missions.Using tools from nonlinear control, Lyapunov theory and algebraic graph theory, we derive performance bounds, and define the convergence rate of the coordination dynamics as a function of the quality of service of the underlying communication network. Finally, the effectiveness of the introduced algorithms is validated through both simulations and experimental testing, confirming their efficiency and applicability to real-world scenarios.

English

ISBN: 9798302853257Subjects--Topical Terms:

649730
Mechanical engineering.
Subjects--Index Terms:

Autonomous Vehicles

Coordinated Control Strategies for Safe Execution of Multi-Vehicle Autonomous Missions /
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300 $a 1 electronic resource (139 pages)
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502 $b Ph.D. $c The University of Iowa $d 2024.
520 $a Autonomous Vehicles (AVs) are becoming an integral part of our daily lives, playing crucial roles in both civil and military sectors. Cooperative fleets of AVs, in particular, offer several advantages in terms of robustness and efficiency. Despite significant advancements in this research area, a lack of safety guarantees still limits the employment of collaborative missions for many real-world applications, especially in complex environments.To address this limitation, this thesis presents robust and efficient coordination and collision avoidance algorithms to enable a fleet of AVs to safely and efficiently navigate their environments. Two distinct speed adjustment solutions for coordinated control are proposed, accommodating different assumptions about the communication capabilities of the agents. These algorithms are designed to be applicable to heterogeneous groups of vehicles, enhancing flexibility, scalability, and cost-effectiveness. Additionally, this work addresses the practical challenges inherent in real-world applications, such as the dynamic limitations of vehicles, constrained communication capabilities in terms of range and bandwidth, and the issues posed by noisy or intermittent sensing. Addressing these issues is vital for the practical applicability and operational viability of the proposed solutions. It is shown that together with trajectory generation and target tracking algorithms, the control laws proposed in this thesis provide a cooperative control framework for safe execution of multi-vehicle autonomous missions.Using tools from nonlinear control, Lyapunov theory and algebraic graph theory, we derive performance bounds, and define the convergence rate of the coordination dynamics as a function of the quality of service of the underlying communication network. Finally, the effectiveness of the introduced algorithms is validated through both simulations and experimental testing, confirming their efficiency and applicability to real-world scenarios.
546 $a English
590 $a School code: 0096
650 4 $a Mechanical engineering. $3 649730
650 4 $a Applied mathematics. $3 2122814
650 4 $a Automotive engineering. $3 2181195
653 $a Autonomous Vehicles
653 $a Military sectors
653 $a Algebraic graph theory
653 $a Lyapunov theory
690 $a 0548
690 $a 0540
690 $a 0364
710 2 $a The University of Iowa. $b Mechanical Engineering. $e degree granting institution. $3 3820113
720 1 $a Cichella, Venanzio $e degree supervisor.
773 0 $t Dissertations Abstracts International $g 86-08B.
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791 $a Ph.D.
792 $a 2024
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