Engineering Commons^™

Formation Control Using Vehicle Operational Envelopes And Behavior-Based Dual-Mode Model Predictive Control, Brian Merrell

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This thesis presents a control framework for formation control. Given an initial desired trajectory, a framework is presented to generate trajectories for each vehicle within the formation. When combined with an operational envelope, a designated area for each vehicle to maneuver, for each vehicle the multi-vehicle formation control problem can be redefined into a single vehicle problem. A single vehicle framework is presented to track the respective trajectory when possible, or stay near it when it passes through previously unknown obstacles. Arc-based motions are used to rapidly produce desirable robot controls while a trajectory tracking motion is used to ensure …

Distributed Control For Robotic Swarms Using Centroidal Voronoi Tessellations, Shelley Rounds

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This thesis introduces a design combining an emerging area in robotics with a well established mathematical research topic: swarm intelligence and Voronoi tessellations, respectively. The main objective for this research is to design an economical and robust swarm system to achieve distributed control. This research combines swarm intelligence with Voronoi tessellations to localize a source and create formations. Extensive software coding must be implemented for this design, such as the development of a discrete centroidal Voronoi tessellation (CVT) algorithm.

The ultimate purpose of this research is to advance the existing Mobile Actuator and Sensor Network (MASnet) platform to eventually develop …