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Title:Multi-objective control and coordination of multi-agent systems
Author(s):Valicka, Christopher
Director of Research:Stipanović, Dušan M.
Doctoral Committee Chair(s):Stipanović, Dušan M.
Doctoral Committee Member(s):Abbas, Ali E.; Sreenivas, Ramavarapu S.; Voulgaris, Petros G.
Department / Program:Industrial&Enterprise Sys Eng
Discipline:Systems & Entrepreneurial Engr
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Multiattribute utility copula
multi-objective control
multi-agent system
multi-robot testbed
dynamic coverage control
Abstract:In this dissertation, control methodologies for systems of multiple mobile agents facing multiple objectives are considered. Carefully constructed objective functions for agents interested in any or all of collision avoidance, robust communications, waypoint following, and dynamic coverage objectives are presented. Theory relevant to gradient-like control laws designed using over-approximations of the maximum function is studied and applications of developed controllers in simulations and physical experiments are presented. Agent behavior resulting from and relevant to the various objectives is discussed. Amongst the various objective functions, novel formulations for proximity and global coverage objectives are presented. A novel control law design is developed based on copula structures from multiattribute decision theory. Systematic and intuitive methods for determining the tradeoffs between multiple objectives are presented and applied to the design of multi-agent control laws. Using over-approximations of the maximum function, appropriate definitions are presented to develop the conditions required for an agent to accomplish multiple objectives. The proposed control laws' suitability for and ability to be implemented straightforwardly on various multi-agent systems facing multiple objectives are demonstrated in multiple simulation and experimental results. The proposed copula based control law and global coverage approach are discussed and validated through their combined implementation in a multi-robot testbed.
Issue Date:2014-01-16
Rights Information:Copyright 2013 Christopher Valicka
Date Available in IDEALS:2014-01-16
Date Deposited:2013-12

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