2026-09-19T01:46:06Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/46676 2023-07-11 col_2142_5131 col_2142_16359 com_2142_5130 com_2142_16358 com_2142_234

Stipanović, Dušan M. Stipanović, Dušan M. Abbas, Ali E. Sreenivas, Ramavarapu S. Voulgaris, Petros G. Valicka, Christopher 2014-01-16T17:58:45Z 2014-01-16T17:58:45Z 2013-12 2014-01-16T17:58:45Z 2013-12 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. Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2013-07-22T21:51:49Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 6 uiucecethesis09.cls: 22309 bytes, checksum: dbfcb6ce43781de390491449cbb14480 (MD5) thesisrefs.bib: 24414 bytes, checksum: 3ff12973720cc6428b28141e70db040b (MD5) finaldoc.tex: 145227 bytes, checksum: 87de3b05747c77caefa46b8f9e3aba9e (MD5) ack.tex: 1993 bytes, checksum: f1419b6772f86db76b23e6fb423536a1 (MD5) abs.tex: 1544 bytes, checksum: d21f8191808c07b1864a97bb65b6612d (MD5) Valicka_Christopher.pdf: 11901506 bytes, checksum: fbf43b08fe88600007617085a0268ce9 (MD5) Made available in DSpace on 2014-01-16T17:58:45Z (GMT). No. of bitstreams: 7 Christopher_Valicka.pdf: 11901506 bytes, checksum: fbf43b08fe88600007617085a0268ce9 (MD5) uiucecethesis09.cls: 22309 bytes, checksum: dbfcb6ce43781de390491449cbb14480 (MD5) thesisrefs.bib: 24414 bytes, checksum: 3ff12973720cc6428b28141e70db040b (MD5) finaldoc.tex: 145227 bytes, checksum: 87de3b05747c77caefa46b8f9e3aba9e (MD5) ack.tex: 1993 bytes, checksum: f1419b6772f86db76b23e6fb423536a1 (MD5) abs.tex: 1544 bytes, checksum: d21f8191808c07b1864a97bb65b6612d (MD5) license.txt: 4068 bytes, checksum: 68042c92443b47c2648b76d5f0e1e8d5 (MD5) http://hdl.handle.net/2142/46676 en Copyright 2013 Christopher Valicka Multiattribute utility copula multi-objective control multi-agent system multi-robot testbed dynamic coverage control Multi-objective control and coordination of multi-agent systems text 3846 University of Illinois at Urbana-Champaign Industrial&Enterprise Sys Eng 1422 Systems & Entrepreneurial Engr Dissertation Ph.D. PHD:Sys&Entreprnural Eng-UIUC 10KS3846PHD