Cooperative control of 3D mobile agents with limited sensing capabilities

Cooperative control of 3D mobile agents

with limited sensing capabilities

Stefano Falasca

May 6, 2010

Prof. Ing. Andrea Caiti

Dott. Ing. Emanuele Crisostomi

Vehicle

Sensing agent

The definition of sensing agent gathers together the agent and the

sensing parameters.

Proposed task: a generalization of rendezvous.

Sensing agent

Sensed information

The information sensed by a sensing agent are:

I

its own position and attitude at every time;

I

the position of a certain (time-varying) set of agents;

Rendezvous of subsets of vehicles

1

during flocking.

Degrees of freedom (β, γ and δ) are not exploited.

1

the same happens when using the so called averaging control and

communication law; connection is not maintained.

Algorithms

DAG

Model for robotic networks that communicate, process information

and move at discrete time instants.

2

Flow