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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)
Created Date 2019
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
Type Doctoral Dissertation
Extent 208 pages
Language English
Copyright
Note Doctoral Dissertation Mechanical Engineering 2019
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis