Decentralized coordination and control in robotic swarms

Şamiloğlu, Andaç Töre
In this thesis study the coordination and control strategies for leaderless, decentralized robotic swarms are developed. The mathematical models of the collective motion of agents are derived by mimicry of swarm of organisms like schools of fish, herds of quadrupeds, flocks of flying birds. There are three main parts of this study (i) mathematical modelling, (ii) analytical analysis (iii) experimental and simulation based validations of the results. These works are performed on the (i) Fundamental agreement behaviors of swarms, (ii) The flocking and distribution behaviors of swarms, (iii) The orientation agreements of swarms, (iv) Circling behaviour, (v) Line formation, (vi) The control strategies and stabilization of formations, (vii) Switching between the formations of swarm of robots. The development of suitable control strategies and stability analysis are performed by the utilization of non-linear and discrete time control theories. The developed strategies can be applied on swarm of robots in the applications of terrestrial, space and oceanic exploration, military surveillance and rescue missions, and other automated collaborative operations.


Implementation of a closed-loop action generation system on a humanoid robot through learning by demonstration
Tunaoğlu, Doruk; Şahin, Erol; Department of Computer Engineering (2010)
In this thesis the action learning and generation problem on a humanoid robot is studied. Our aim is to realize action learning, generation and recognition in one system and our inspiration source is the mirror neuron hypothesis which suggests that action learning, generation and recognition share the same neural circuitry. Dynamic Movement Primitives, an efficient action learning and generation approach, are modified in order to fulfill this aim. The system we developed (1) can learn from multiple demonstr...
Software development for man-machine interface for an industrial robot
Cengiz, Mahir Cihan; Kaftanoğlu, Bilgin; Department of Mechanical Engineering (2003)
In this study, a robotic software, which controls the robot, is developed. The robot considered is a six degree of freedom robot and it is designed and manufactured in METU. User can send the robot anywhere in space within its workspace, in any orientation. Forward and inverse kinamatics can be executed according to the needs. Simulation framework is embedded into the software for the 3D visualisation of the robot. Any movements can be simulated on the screen. Software also generates the path for the given ...
Optimal control of a half circular compliant legged monopod
Özkan Aydın, Yasemin; Leblebicioğlu, Mehmet Kemal; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2013)
Legged robots have complex architecture because of their nonlinear dynamics and unpredictable ground contact characteristics. They can be also dynamically stable and exhibit dynamically dexterous behaviors like running, jumping, flipping which require complex plant models that may sometimes be difficult to build. In this thesis, we focused on half circular compliant legged monopod that can be considered as a reduced-order dynamical model for the hexapod robot, called RHex. The main objective of this thesis ...
Dynamic formation control with heterogeneous mobile robots
Çimenci, Kadir; Erkmen, Aydan Müşerref; Department of Electrical and Electronics Engineering (2016)
Formation control in robotics is a growing topic where research works are mainly geared towards heterogeneous swarm colonies under either decentralized control or limited centralization. Swarm robotics where decentralization is applied, nevertheless assume that the agents are capable of getting global information about the whole swarm.Moreoverintheliterature,formationcontrolisgenerallydoneforknownfixed shapesthatcanbedefinedmathematically. Howevernodynamicallychangingshapes areenvisagedandnoshapetransitionsar...
Momentum transfer continuum between preshape and grasping based on fluidics
Özyer, Barış; Erkmen, İsmet; Erkmen, Aydan Müşerref; Department of Electrical and Electronics Engineering (2012)
This dissertation propose a new fluidics based framework to determine a continuum between preshaping and grasping so as to appropriately preshape a multi-fingered robot hand for creating an optimal initialization of grasp. The continuum of a hand preshape closing upon an object that creates an initial object motion tendency of the object based on the impact moment patterns generated from the fingers is presented. These motion tendencies should then be suitable for the proper initiation of the grasping task....
Citation Formats
A. T. Şamiloğlu, “Decentralized coordination and control in robotic swarms,” Ph.D. - Doctoral Program, Middle East Technical University, 2012.