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oai:www.ideals.illinois.edu:2142/16796 2023-07-10 col_2142_5131 col_2142_10761 com_2142_5130 com_2142_10755 com_2142_234

LaValle, Steven M. Yu, Jingjin 2010-08-20T17:58:03Z 2010-08-20T17:58:03Z 2010-08-20T17:58:03Z 2010-08 We study minimalism in sensing and control by considering a multi-agent system in which each agent moves like a Dubins car and has a limited sensor that reports only the presence of another agent within some sector of its windshield. Using a very simple quantized control law with three values, each agent tracks another agent assigned to it by maintaining that agent within this windshield sector. We use Lyapunov analysis to show that by acting autonomously in this way, the agents will achieve rendezvous given a connected initial assignment graph and a merge assumption. We then proceed to show that, with a slightly different control law, an initial assignment is not required and the sensing model can be weakened further. A distinguishing feature of our approach is that it does not involve any estimation procedure aimed at reconstructing coordinate information. Our scenario thus appears to be the first example in which an interesting task is performed with extremely coarse sensing and control, and without state estimation. The system was implemented in computer simulation, accessible through the Web, of which the results are presented in the thesis. Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2010-06-03T21:32:13Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 jingjinyu-ms-thesis.pdf: 813348 bytes, checksum: d5872d68b0c6c5215030c8758d4a8edb (MD5) Made available in DSpace on 2010-08-20T17:58:03Z (GMT). No. of bitstreams: 3 jingjinyu-ms-thesis.pdf: 813348 bytes, checksum: d5872d68b0c6c5215030c8758d4a8edb (MD5) Yu_Jingjin.pdf: 812749 bytes, checksum: 08cc5d81084dde77d43069ffcf780b8f (MD5) license.txt: 4057 bytes, checksum: 8a0f0c901cd378040dc93c89c8edc569 (MD5) http://hdl.handle.net/2142/16796 en Copyright 2010 Jingjin Yu rendezvous multi-agent systems formation control Lyapunov analysis Rendezvous of multiple Dubins car agents with minimal sensing and control requirements Computer Science 1434 Computer Science 0112 University of Illinois at Urbana-Champaign Thesis M.S. PHD:Computer Science -UIUC 10KS0112PHD