Decentralized Cooperative Control for Mobile Agents with Switching Topologies and Time-Delays

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Mobile robot experiments for autonomous formation control applications

Mobile robot experiments for autonomous formation control applications

In this project, we experimentally validate a new design of cooperative control law with nonlinear control gain for multi-agent systems with undirected communication topologies. The system convergence is guaranteed in the presence of switching topologies and time-delays. Computer simulations in Matlab and hardware experiments using Aria mobile robots both confirmed the effectiveness of the new control protocol for applications like point consensus control, formation and coverage control. The project is a collaboration between Bethune-Cookman University and ERAU. It is supported by the Air Force Research Lab/Information Directorate’s Machine Intelligence for Mission Focused Autonomy program.

Research Performed by:

Junzhen Shao, MS Electrical and Computer Engineering, December 2014

Research Advised by:

  • Dr. Thomas Yang, Associate Professor of Electrical and Computer Engineering
  • Dr. Ilteris Demirkiran, Professor of Electrical Engineering
  • Dr. Jing Wang, Bethune-Cookman University