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Dynamic formation control with heterogeneous mobile robots

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2016
Çimenci, Kadir
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.