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A Decentralized Architecture Using the Null-Space-Based Behavioral Control For Multi-Agent Systems with Application to Border Patrolling, Search and Retrieval
Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Computer and Information Science.
2013 (English)MasteroppgaveStudent thesis
Abstract [en]

This report proposes a new method for searching and retrieving a dynamically changing border using robotic multi-agent systems as an extension to the patrolling task - the problem of coordinating autonomous agents patrolling a border. The proposed method is a decentralized and self-organizing system built in the framework of the Null-Space-Based behavioral control and is controlled by a Finite State supervisor. The system encourages cooperation among the agents without the use of explicit and direct communication and from the simple interactions between agents the system hopes to emerge a global behavior in order to help fulfill the patrolling task.

Place, publisher, year, edition, pages
Institutt for datateknikk og informasjonsvitenskap , 2013. , 92 p.
URN: urn:nbn:no:ntnu:diva-27030Local ID: ntnudaim:10304OAI: diva2:756637
Available from: 2014-10-17 Created: 2014-10-17 Last updated: 2014-10-17Bibliographically approved

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