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Guidance and Control Dissertation Defense - Novel potential-function based control scheme for nonholonomic multi-agent systems to prevent the local minimum problem
Tuesday, April 1, 2014
11:00 am - 12:30 pm
11:00 am - 12:30 pm
WRW 310
Abstract. The primary objective of this dissertation research is to construct novel potential-function-based control schemes that drive agents from their initial to the goal configurations while avoiding collision with other agents and obstacles. The control schemes enable agents to avoid being trapped at a local minimum by forcing them to exit from the regions that may contain a local minimum. This research consists of three studies, each of which has different technical assumptions. In the first study, all-to-all communication ability among agents is assumed. In addition, each agent is assumed to a priori know the location of all obstacles. In the second study, all-to-all communication ability is again assumed, but each agent is assumed to determine the location of obstacles using a sensor with a limited sensing range. In the third study, limited communication ability is assumed (i.e., each agent exchanges information only with agents within its limited communication range), and each agent is assumed to determine the location of the obstacles using its sensor with a limited sensing range.
Contact Makiko Okamoto, 512-468-9969
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