Several algorithms for multi-robot coordination assume that the communication network of a team of mobile robots is connected, so that information can be exchanged between any two robots in the team. The network topology is often state-dependent, and thus the robots may move in a way that causes the network to become disconnected. This dissertation proposes continuous time control laws that preserve the connectivity for both undirected and directed mobile robot networks, which can be used along with additional task-dependent control actions. An additional aim of the dissertation is to provide control algorithms to achieve multi-robot coordination methods using vision-based feedback. Feedback control laws are presented that achieve tracking of desired relative positions between a pair of non-holonomic mobile robots using relative position measurements only. Issues pertaining to vision-based implementation of the connectivity control laws are discussed, and solutions are presented.
|Advisor:||Spong, Mark W.|
|Commitee:||Gans, Nicholas R., Rotea, Mario A., Vidyasagar, Mathukumalli|
|School:||The University of Texas at Dallas|
|School Location:||United States -- Texas|
|Source:||DAI-B 75/11(E), Dissertation Abstracts International|
|Keywords:||Connectivity, Formation control, Mobile robot networks, Multi robot coordination, Robot vision|
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