Rendezvous of multiple Dubins car agents with minimal sensing and control requirements
Yu, Jingjin
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https://hdl.handle.net/2142/16796
Description
Title
Rendezvous of multiple Dubins car agents with minimal sensing and control requirements
Author(s)
Yu, Jingjin
Issue Date
2010-08-20T17:58:03Z
Director of Research (if dissertation) or Advisor (if thesis)
LaValle, Steven M.
Department of Study
Computer Science
Discipline
Computer Science
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
rendezvous
multi-agent systems
formation control
Lyapunov analysis
Abstract
We study minimalism in sensing and control by considering a multi-agent system in which each agent moves like a Dubins car and has a limited sensor that reports only the presence of another agent within some sector of its windshield. Using a very simple quantized control law with three values, each agent tracks another agent assigned to it by maintaining that agent within this windshield sector. We use Lyapunov analysis to show that by acting autonomously
in this way, the agents will achieve rendezvous given a connected initial assignment graph and a merge assumption. We then proceed to show that, with a slightly different control law, an initial assignment is not required
and the sensing model can be weakened further. A distinguishing feature of our approach is that it does not involve any estimation procedure aimed at reconstructing coordinate information. Our scenario thus appears to be the
first example in which an interesting task is performed with extremely coarse sensing and control, and without state estimation. The system was implemented in computer simulation, accessible through the Web, of which the results are presented in the thesis.
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