Cooperative Event-Based Control of Mobile Agents

Cooperative Event-Based Control of Mobile Agents
Author :
Publisher : Logos Verlag Berlin GmbH
Total Pages : 352
Release :
ISBN-10 : 9783832554705
ISBN-13 : 383255470X
Rating : 4/5 (05 Downloads)

Book Synopsis Cooperative Event-Based Control of Mobile Agents by : Michael Schwung

Download or read book Cooperative Event-Based Control of Mobile Agents written by Michael Schwung and published by Logos Verlag Berlin GmbH. This book was released on 2022-06-01 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis proposes a method that plans trajectories for autonomous agents to enable them to fulfil different tasks while ensuring the collision-free movement. The agents are locally controlled and connected over an unreliable communication network that may induce packet losses and transmission delays. Further sensors e.g. for a distance measurement are not used and communication should only be invoked if it is necessary to avoid a collision. The basic problem occurs for two agents. The first agent can change its trajectory at any time without regard to the second agent, which has to ensure the collision avoidance. To this aim it adapts its trajectory based only on local data and communicated information about the current and future movement of the first agent. A control unit for the second agent is introduced that has to execute four tasks to ensure the control aims: 1. Estimation of the current network properties. 2. Prediction of the movement of the stand-on agent. 3. Invocation of communication whenever the local data becomes too uncertain. 4. Planning of collision avoiding trajectories. The main result of the thesis is a novel control method for mobile agents that solves the four tasks leading to a proven collision avoidance. The method consists of a delay estimator, a prediction unit, an event generator and a trajectory planning unit. The method can be used for different types of agents (e.g. UAVs or cars) with only slight modifications. The proposed method is tested and evaluated through simulations and experiments with both, two quadrotors and two nonholonomic robots.


Cooperative Event-Based Control of Mobile Agents Related Books

Cooperative Event-Based Control of Mobile Agents
Language: en
Pages: 352
Authors: Michael Schwung
Categories: Technology & Engineering
Type: BOOK - Published: 2022-06-01 - Publisher: Logos Verlag Berlin GmbH

DOWNLOAD EBOOK

This thesis proposes a method that plans trajectories for autonomous agents to enable them to fulfil different tasks while ensuring the collision-free movement.
Cooperative Control of Multi-Agent Systems
Language: en
Pages: 314
Authors: Yue Wang
Categories: Technology & Engineering
Type: BOOK - Published: 2017-05-08 - Publisher: John Wiley & Sons

DOWNLOAD EBOOK

A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single
Cooperative Control of Networked Vehicles
Language: en
Pages: 192
Authors: Alexander Schwab
Categories: Technology & Engineering
Type: BOOK - Published: 2022-08-29 - Publisher: Logos Verlag Berlin GmbH

DOWNLOAD EBOOK

This thesis concerns the cooperative control of networked vehicles. Autonomous driving is a topic that is currently being discussed with great interest from res
Event-Based Control and Signal Processing
Language: en
Pages: 573
Authors: Marek Miskowicz
Categories: Technology & Engineering
Type: BOOK - Published: 2018-09-03 - Publisher: CRC Press

DOWNLOAD EBOOK

Event-based systems are a class of reactive systems deployed in a wide spectrum of engineering disciplines including control, communication, signal processing,
Secure Coordination Control of Networked Robotic Systems
Language: en
Pages: 246
Authors: Xiaolei Li
Categories:
Type: BOOK - Published: - Publisher: Springer Nature

DOWNLOAD EBOOK