Shape control of cyclic networks in multirobot formations

Tolga EREN

Article Details

Shape control of cyclic networks in multirobot formations

Authors:

Tolga EREN

Publisher:

TUBITAK

Journal:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 4, pp.1182-1198

Document Type:

Article

Publication Date:

3/2013

Document Language:

Turkish

Document ID (Org No.):

2000743281

Frequency:

Bimonthly

eISSN:

1303-6203

pISSN:

1300-0632

Abstract:

 

The first part of this paper examines cycles at the network  level of sensing and control architectures that are needed to maintain  the shape of a multiagent formation in 2-dimensional space, while the  formation moves as a cohesive whole.  The key tools used in the paper  are rigidity theory and graph theory.  The second part of the paper  focuses on the planner level and controller level of the architecture  by designing the fuzzy planner and fuzzy controller of individual  agents.  This permits the decomposition of the complex coordination  problem into a series of smaller ones.  The fuzzy planner and the  fuzzy controller on kinematic unicycles are simulated for an exemplary  cyclic formation generated by the results obtained in the first half  of the paper.  The validity of the proposed approach in the shape  control of multiagent formations is verified through simulation  experiments.

 

The first part of this paper examines cycles at the network  level of sensing and control architectures that are needed to maintain  the shape of a multiagent formation in 2-dimensional space, while the  formation moves as a cohesive whole.  The key tools used in the paper  are rigidity theory and graph theory.  The second part of the paper  focuses on the planner level and controller level of the architecture  by designing the fuzzy planner and fuzzy controller of individual  agents.  This permits the decomposition of the complex coordination  problem into a series of smaller ones.  The fuzzy planner and the  fuzzy controller on kinematic unicycles are simulated for an exemplary  cyclic formation generated by the results obtained in the first half  of the paper.  The validity of the proposed approach in the shape  control of multiagent formations is verified through simulation  experiments.

Article Details

Shape control of cyclic networks in multirobot formations

Authors: Tolga EREN

Publisher: TUBITAK

Journal: Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 4, pp.1182-1198

Document Type: Article

Publication Date: 3/2013

Document Language: Turkish

Document ID (Org No.): 2000743281

Frequency: Bimonthly

eISSN: 1303-6203

pISSN: 1300-0632

Issues

Authors:

Tolga EREN

Publisher:

TUBITAK

Journal:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 4, pp.1182-1198

Document Type:

Article

Publication Date:

3/2013

Document Language:

Turkish

Document ID (Org No.):

2000743281

Frequency:

Bimonthly

eISSN:

1303-6203

pISSN:

1300-0632