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
2Model for robotic networks that communicate, process information
and move at discrete time instants.
2