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https://hdl.handle.net/2142/81023
Description
Title
Reliable *Control of Multi-Agent *Systems
Author(s)
Al Hokayem, Peter Farid
Issue Date
2007
Doctoral Committee Chair(s)
Spong, Mark W.
Department of Study
Electrical and Computer Engineering
Discipline
Electrical and Computer Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Electronics and Electrical
Language
eng
Abstract
In this dissertation we propose semiautonomous and autonomous solutions to multi-agent problems. We first utilize the concept of input-to-state stability to address the problem of semiautonomous control of multi-agent systems, and show that stability of the system is maintained in the presence of unreliable communication channels. We show that this result can be applied to specific cases such as bilateral one-to-one and one-to-many teleoperation. Then, we address the problem of collision avoidance in multi-agent systems using the concept of avoidance control, which provides provable guarantees for collision-free maneuvers. We show how these two approaches can be combined to render a viable solution to searchand-rescue type missions. Finally, we propose an algorithmic and autonomous solution to the dynamic coverage and persistent coverage control problems and derive some bounds that characterize the performance of these algorithms with respect to completion time and communication demands.
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