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Title:Implementation of safe and reliable coverage control for multiple mobile robots
Author(s):Rekoske, Richard
Advisor(s):Stipanović, Dušan M.
Department / Program:Industrial&Enterprise Sys Eng
Discipline:Systems & Entrepreneurial Engr
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Coverage Control
Motion Capture System
Avoidance Control
Proximity Control
Kalman Filter
Multiple Agents
Abstract:This thesis presents some results relating to an implementation of a safe and reliable coverage control algorithm. The application was focused on implementation on differential drive robots developed at the University of Illinois at Urbana-Champaign. Control laws for coverage, avoidance, and proximity were applied to a multi-agent system of robots. The control laws were merged to provide coverage using the system while guaranteeing inter-agent proximity, inter-agent collision avoidance, and agent-environment collision avoidance. Circular regions were considered for avoidance. The performance and limitation of the application are examined. Practical considerations for implementation are discussed. The experimental platform consisted of a motion capture system, three differential drive robots with multiple sensing capabilities, and two supporting computers for the motion capture system and data visualization.
Issue Date:2013-08-22
Rights Information:Copyright 2013 Richard Rekoske
Date Available in IDEALS:2013-08-22
Date Deposited:2013-08

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