Show/Hide Menu
Hide/Show Apps
anonymousUser
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Açık Bilim Politikası
Açık Bilim Politikası
Frequently Asked Questions
Frequently Asked Questions
Browse
Browse
By Issue Date
By Issue Date
Authors
Authors
Titles
Titles
Subjects
Subjects
Communities & Collections
Communities & Collections
Dynamic formation control with heterogeneous mobile robots
Download
index.pdf
Date
2016
Author
Çimenci, Kadir
Metadata
Show full item record
Item Usage Stats
7
views
10
downloads
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 areenvisagedandnoshapetransitionsareclearlyhandledinthoseworks. Weattempt to bring a clear impact to the literature by focusing on tracking and realising formation shapes under dynamically changing formation shape demands. Furthermore,in our thesis work, we focus on robot colonies composed of heterogeneous robots of differentdynamicsandsensorcapabilitiesunderdecentralizeddynamicallychanging formation control. These robots are able furthermore, to just possess local mutual interactions only with their close-by neighboring agents. In our approach communications of each agent with its neighbors converges to information about the whole colony based on graph theory. Simulations in our work are generated using the Gazebo environment by modelling a rough territory. Hardware applications which implements the methods discussed in this thesis work are also developed. These applications are evaluated as proof of concept work which illustrates that the methods can be implemented in real time applications.
Subject Keywords
Robotics.
,
Mobile robots.
,
Multiagent systems.
URI
http://etd.lib.metu.edu.tr/upload/12620172/index.pdf
https://hdl.handle.net/11511/25806
Collections
Graduate School of Natural and Applied Sciences, Thesis