Shape control of cyclic networks in multirobot formations

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dc.contributor.authorEren, Tolga
dc.date.accessioned2020-06-25T18:07:41Z
dc.date.available2020-06-25T18:07:41Z
dc.date.issued2013
dc.departmentKırıkkale Üniversitesi
dc.description.abstractThe first part of this paper examines cycles at the network level of sensing and control architectures that are needed to maintain the shape of a multiagent formation in 2-dimensional space, while the formation moves as a cohesive whole. The key tools used in the paper are rigidity theory and graph theory. The second part of the paper focuses on the planner level and controller level of the architecture by designing the fuzzy planner and fuzzy controller of individual agents. This permits the decomposition of the complex coordination problem into a series of smaller ones. The fuzzy planner and the fuzzy controller on kinematic unicycles are simulated for an exemplary cyclic formation generated by the results obtained in the first half of the paper. The validity of the proposed approach in the shape control of multiagent formations is verified through simulation experiments.en_US
dc.description.sponsorshipScientific and Technological Research Council of TurkeyTurkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK) [108E189]en_US
dc.description.sponsorshipThis work was supported by the Scientific and Technological Research Council of Turkey through grant 108E189 and was carried out in the framework of European Commission COST Action IC0806, "Intelligent Monitoring, Control and Security of Critical Infrastructure Systems."en_US
dc.identifier.citationEren T. (2013). Shape control of cyclic networks in multirobot formations. Turkish Journal of Electrical Engineering and Computer Sciences, 21(4), 1182 - 1198.en_US
dc.identifier.doi10.3906/elk-1111-46
dc.identifier.endpage1198en_US
dc.identifier.issn1300-0632
dc.identifier.issue4en_US
dc.identifier.scopus2-s2.0-84880100946
dc.identifier.scopusqualityQ2
dc.identifier.startpage1182en_US
dc.identifier.trdizinid146239
dc.identifier.urihttps://doi.org/10.3906/elk-1111-46
dc.identifier.urihttps://hdl.handle.net/20.500.12587/5637
dc.identifier.volume21en_US
dc.identifier.wosWOS:000322746100019
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.publisherTubitak Scientific & Technical Research Council Turkeyen_US
dc.relation.ispartofTurkish Journal Of Electrical Engineering And Computer Sciences
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectFormation controlen_US
dc.subjectnetworked controlen_US
dc.subjectcooperative controlen_US
dc.subjectmultirobot formationsen_US
dc.subjectautonomous agentsen_US
dc.subjectrigidity theoryen_US
dc.subjectrigid graph theoryen_US
dc.subjectfuzzy controlen_US
dc.subjectfuzzy systemsen_US
dc.titleShape control of cyclic networks in multirobot formationsen_US
dc.typeArticle

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