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Multi-agent formation control for target tracking and circumnavigation missions
KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis, we study a problem of target tracking and circumnavigation with anetwork of autonomous agents. We propose a distributed algorithm to estimate theposition of the target and to drive the agents to rotate around the target while forminga regular polygon and keeping a desired distance from it. We formally show that thealgorithm attains exponential convergence of the agents to the desired polygon if thetarget is stationary, and bounded convergence if the target is moving with boundedspeed. Numerical simulations in Matlab-Simulink and ROS corroborate the theoreticalresults and demonstrate the resilience of the network to addition and removal of agents.

Abstract [sv]

I denna avhandling studeras ett problem av målföljning och omsegling med ennätverk av självstyrande agenter. Vi föreslår en distribuerad algoritm för att uppskattapositionen av målet och för att driva agenterna att rotera runt målet, medan debildar en regelbunden polygon och håller ett önskat avstånd från målet. Vi formelltvisar att algoritmen uppnår exponentiell konvergens av agenterna till den önskadepolygonen om målet är stillastående, och avgränsad konvergens om målet rör sig medavgränsad hastighet. Numeriska simuleringar i Matlab/Simulink och ROS bekräftarden teoretiska resultat och demonstrerar nätverkets spänstighet till addition och avflyttningav agenter.

Place, publisher, year, edition, pages
2017. , 77 p.
Series
TRITA-EE, ISSN 1653-5146 ; 2017:030
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-206207OAI: oai:DiVA.org:kth-206207DiVA: diva2:1091904
Examiners
Available from: 2017-04-28 Created: 2017-04-28 Last updated: 2017-04-28Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • de-DE
  • en-GB
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Output format
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