2026-09-19T04:52:25Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/45334 2023-07-11 col_2142_5131 col_2142_16359 com_2142_5130 com_2142_16358 com_2142_234

Stipanović, Dušan M. Rekoske, Richard 2013-08-22T16:36:58Z 2013-08-22T16:36:58Z 2013-08 2013-08-22T16:36:58Z 2013-08 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. Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2013-07-05T15:08:45Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Rekoske_Richard.pdf: 2530907 bytes, checksum: 92f57eab928af3037139c23e4ce43fd2 (MD5) Made available in DSpace on 2013-08-22T16:36:58Z (GMT). No. of bitstreams: 2 Richard_Rekoske.pdf: 2530907 bytes, checksum: 92f57eab928af3037139c23e4ce43fd2 (MD5) license.txt: 4065 bytes, checksum: db39b4e1917eb4f540e1785ca0171df2 (MD5) http://hdl.handle.net/2142/45334 en Copyright 2013 Richard Rekoske Coverage Control Implementation Optitrack Motion Capture System OMAPL138 Avoidance Control Proximity Control Kalman Filter Multiple Agents Multi-objective Implementation of safe and reliable coverage control for multiple mobile robots text Industrial&Enterprise Sys Eng 1422 Systems & Entrepreneurial Engr 3846 University of Illinois at Urbana-Champaign Thesis M.S. MS:Sys & Entreprnural Eng-UIUC 10KS3846MS