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Full-Text Articles in Engineering
3d Formation Control In Multi-Robot Teams Using Artificial Potential Fields, Sanjana Reddy Mohan
3d Formation Control In Multi-Robot Teams Using Artificial Potential Fields, Sanjana Reddy Mohan
Electronic Theses and Dissertations
Multi-robot teams find applications in emergency response, search and rescue operations, convoy support and many more. Teams of autonomous aerial vehicles can also be used to protect a cargo of airplanes by surrounding them in some geometric shape. This research develops a control algorithm to attract UAVs to one or a set of bounded geometric shapes while avoiding collisions, re-configuring in the event of departure or addition of UAVs and maneuvering in mission space while retaining the configuration. Using potential field theory, weighted vector fields are described to attract UAVs to a desired formation. In order to achieve this, three …
Multirobot Confidence And Behavior Modeling: An Evaluation Of Telerobotic Performance And Efficiency, Nathan Lucas
Multirobot Confidence And Behavior Modeling: An Evaluation Of Telerobotic Performance And Efficiency, Nathan Lucas
Wayne State University Dissertations
There is considerable interest in multirobot systems capable of performing spatially distributed, hazardous, and complex tasks as a team. There is also growing interest in manned-unmanned teams leveraging the unique abilities of humans and automated machines working alongside each other. The limitations of human perception and cognition affect the ability of operators to integrate information from multiple mobile robots, switch between their spatial frames of reference, and divide attention among many sensory inputs and command outputs. Automation is necessary to help the operator manage increasing demands as the number of robots scales up. However, more automation does not necessarily equate …