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首页> 外文学位 >A Continuum Framework and Homogeneous Map Based Algorithms for Formation Control of Multi Agent Systems.
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A Continuum Framework and Homogeneous Map Based Algorithms for Formation Control of Multi Agent Systems.

机译：基于连续体框架和基于均质图的多智能体系统编队控制算法。

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摘要

In this dissertation, new algorithms for formation control of multi agent systems (MAS) based on continuum mechanics principles will be suggested. For this purpose, agents of the MAS are considered as particles in a continuum, evolving in Rn, whose desired configuration is required to satisfy an admissible deformation function. Considered is a specific class of mappings that are called homogenous where the Jacobian of the mapping is only a function of time and is not spatially varying. The primary objectives of this dissertation are to develop the necessary theory and its validation on a mobile-agent based swarm test bed that includes two primary tasks: 1) homogenous transformation of MAS and 2) deployment of a random distribution of agents on a desired configuration. Developed will be a framework based on homogenous transformations for the evolution of an MAS in an n-dimensional space (n=1,2, and 3), under1) no inter-agent communication (predefined motion plan), 2) local inter-agent communication, and 3) intelligent perception by agents. In this dissertation, different communication protocols for MAS evolution that are based on certain special features of a homogenous transformation will be developed. It is also aimed to deal with the robustness of tracking of a desired motion by an MAS evolving in Rn. Furthermore, the effect of communication delays in an MAS evolving under consensus algorithms or homogenous maps is investigated. In this regard, the maximum allowable communication delay for MAS evolution is formulated on the basis of eigen-analysis.
机译：本文提出了基于连续力学原理的多主体系统（MAS）编队控制新算法。为此，将MAS的试剂视为连续体中的粒子，以Rn的形式演化，其所需的构型是满足允许的变形函数所必需的。考虑的是一类特定的映射，称为均匀映射，其中映射的雅可比行列式仅是时间的函数，并且不随空间变化。本文的主要目的是开发必要的理论及其在基于移动代理的群体测试平台上的验证，包括两个主要任务：1）MAS的同质转化和2）在所需配置上随机分配代理。将开发基于同构变换的框架，用于在n维空间（n = 1,2和3）中MAS的演化，在以下情况下：1）没有代理人之间的交流（预定义的运动计划），2）在本地代理商沟通，以及3）代理商的智能感知。本文将基于同质变换的某些特殊特征，开发用于MAS进化的不同通信协议。它还旨在通过在Rn中演化的MAS处理跟踪所需运动的鲁棒性。此外，研究了在共识算法或同质映射下发展的MAS中通信延迟的影响。在这方面，基于特征分析来制定用于MAS演进的最大允许通信延迟。

著录项

  • 作者

    Rastgoftar, Hossein.;

  • 作者单位

    Drexel University.;

  • 授予单位 Drexel University.;
  • 学科 Mechanical engineering.;Industrial engineering.;Systems science.
  • 学位 Ph.D.
  • 年度 2015
  • 页码 228 p.
  • 总页数 228
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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