Controllability and Stabilization of Kolmogorov Forward Equations for Robotic Swarms
|Abstract||Numerous works have addressed the control of multi-robot systems for coverage, mapping, navigation, and task allocation problems. In addition to classical microscopic approaches to multi-robot problems, which model the actions and decisions of individual robots, lately, there has been a focus on macroscopic or Eulerian approaches. In these approaches, the population of robots is represented as a continuum that evolves according to a mean-field model, which is directly designed such that the corresponding robot control policies produce target collective behaviours.
This dissertation presents a control-theoretic analysis of three types of mean-field models proposed in the literature for modelling and control of large-scale multi-agent sy... (more)
|Contributor||Elamvazhuthi, Karthik (Author) / Berman, Spring Melody (Advisor) / Kawski, Matthias (Committee member) / Kuiper, Hendrik (Committee member) / Mignolet, Marc (Committee member) / Peet, Matthew (Committee member) / Arizona State University (Publisher)|
|Subject||Robotics / Control Theory / Partial Differential Equations / Swarm robotics|
|Note||Doctoral Dissertation Mechanical Engineering 2019|
|Collaborating Institutions||Graduate College / ASU Library|
|Additional Formats||MODS / OAI Dublin Core / RIS|