Decentralized coordination and control in robotic swarms

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Tezin Türü: Doktora

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Makina Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2012

Öğrenci: ANDAÇ TÖRE ŞAMİLOĞLU

Danışman: AHMET BUĞRA KOKU

Özet:

In this thesis study the coordination and control strategies for leaderless, decentralized robotic swarms are developed. The mathematical models of the collective motion of agents are derived by mimicry of swarm of organisms like schools of fish, herds of quadrupeds, flocks of flying birds. There are three main parts of this study (i) mathematical modelling, (ii) analytical analysis (iii) experimental and simulation based validations of the results. These works are performed on the (i) Fundamental agreement behaviors of swarms, (ii) The flocking and distribution behaviors of swarms, (iii) The orientation agreements of swarms, (iv) Circling behaviour, (v) Line formation, (vi) The control strategies and stabilization of formations, (vii) Switching between the formations of swarm of robots. The development of suitable control strategies and stability analysis are performed by the utilization of non-linear and discrete time control theories. The developed strategies can be applied on swarm of robots in the applications of terrestrial, space and oceanic exploration, military surveillance and rescue missions, and other automated collaborative operations.