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https://hdl.handle.net/2142/99602
Description
Title
Reliable Control of Multi-Agent Systems
Author(s)
Al Hokayem, Peter Farid
Issue Date
2007-09
Keyword(s)
Semi-autonomous multi-agent systems
Collision avoidance control
Coverage control
Abstract
In this dissertation we propose semiautonomous and autonomous solutions to multi-agent problems. We first utilize the concept of input-to-state stability to address the problem of semiautonomous control of multi-agent systems, and show that stability of the system is maintained in the presence of unreliable communication channels. We show that this result can be applied to specific cases such as bilateral one-to-one and one-to-many teleoperation. Then, we address the problem of collision avoidance in multi-agent systems using the concept of avoidance control, which provides provable guarantees for collision-free maneuvers. We show how these two approaches can be combined to render a viable solution to search and- rescue type missions. Finally, we propose an algorithmic and autonomous solution to the dynamic coverage and persistent coverage control problems and derive some bounds that characterize the performance of these algorithms with respect to completion time and communication demands.
Publisher
Coordinated Science Laboratory, University of Illinois at Urbana-Champaign
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