Sökning: "Formationskontroll"

Hittade 5 uppsatser innehållade ordet Formationskontroll.

1. 1. Coordinate­Free Spacecraft Formation Control with Global Shape Convergence under Vision­Based Sensing

   Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Omid Mirzaeedodangeh; [2023]
   Nyckelord :Bispherical Coordinates; 3D Formation Control; Spacecraft Formation Flying; Multiagent Systems; Prescribed Performance Control; Vision-Based Sensing; Bisfäriska Koordinater; 3D Formationskontroll; Rymdfarkostformationsflygning; Multiagentsystem; Föreskriven Prestandakontroll; Synbaserad Avkänning;

   Sammanfattning : Formation control in multi-agent systems represents a groundbreaking intersection of various research fields with lots of emerging applications in various technologies. The realm of space exploration also can benefit significantly from formation control, facilitating a wide range of functions from astronomical observations, and climate monitoring to enhancing telecommunications, and on-orbit servicing and assembly. LÄS MER

3. 2. Distance-Based Formation Control, Maneuvering and Flip Ambiguity Avoidance in Multi-Agent Systems

   Kandidat-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Kristoffer Germalm; Yassir Fiddi; [2023]
   Nyckelord :;

   Sammanfattning : Formation control is a fundamental concept in the field of robotics, where a group ofagents is directed to achieve a specific formation or pattern. This report investigates decentralizeddistance-based formation control strategies for multiagent formation control, with a focus on controllaw design dealing with flip ambiguity issues, and centroid maneuvering. LÄS MER

4. 3. Scalable Reinforcement Learning for Formation Control with Collision Avoidance : Localized policy gradient algorithm with continuous state and action space

   Master-uppsats, KTH/Skolan för teknikvetenskap (SCI); KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Andreu Matoses Gimenez; [2023]
   Nyckelord :Control theory; Multi-agent systems; Distributed systems; Formation control; Collision avoidance; Reinforcement learning; Teoria de control; Sistemes multiagent; Sistemes distribuïts; Control de formació; Prevenció de col·lisions; Reinforcement Learning; Reglerteknik; Multi-agent system; Distribuerade system; formationskontroll; Kollisionsundvikande; Reinforcement learning; Teoría de control; Sistemas multiagente; Sistemas distribuidos; Control de formación; Prevención de colisiones; Reinforcement Learning;

   Sammanfattning : In the last decades, significant theoretical advances have been made on the field of distributed mulit-agent control theory. One of the most common systems that can be modelled as multi-agent systems are the so called formation control problems, in which a network of mobile agents is controlled to move towards a desired final formation. LÄS MER

5. 4. Control Barrier Functions for Formation Control of Leader-follower Multi-agent Systems

   Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Tianrun Sun; [2023]
   Nyckelord :Multi-agent System; Leader-follower System; Formation Control; Control Barrier Function; Connectivity Maintenance; Multi-agent-system; Leader-follower-system; Formations Kontroll; Kontroll Barriär Funktion; Underhåll av Anslutningsmöjligheter;

   Sammanfattning : This thesis studies formation control for a class of general leader-follower multi-agent systems with Control Barrier Functions (CBFs) such that connectivity maintenance is fulfilled for all the neighboring agents. In leader-follower multi-agent systems, only the leader agents are controlled by the externally designed input, while the followers are guided through their dynamic couplings with the neighboring agents. LÄS MER

7. 5. Consensus Algorithm with Input Constraints and Collision Avoidance for Swarming Sunshade Satellites near the L1 point

   Master-uppsats, KTH/Lättkonstruktioner, marina system, flyg- och rymdteknik, rörelsemekanik

   Författare :Felicia Törning; [2022]
   Nyckelord :Consensus algorithm; Formation control; Multi agent system; Solar sailing; Space based geoengineering; Konsensusalgoritm; Formationskontroll; multiagent system; solsegel;

   Sammanfattning : Swarm Control Theory studies how multi-agent systems interact to solve tasks cooperatively. In this thesis it was studied how graph theory and the Dynamic Average Consensus Algorithm can be used to control swarming sunshade satellites near L1 for global temperature control, and if it would be suitable for the purpose. LÄS MER