Please use this persistent identifier to cite or link to this item: doi:10.24405/15276
Title: Source Localization on Multi-Robot Systems
Other Titles: Quelllokalisierung mit Multi-Robotergruppen
Authors: Dorau, Marcus
Language: eng
Keywords: Robotik;Robotics;Regelung;Control;Quelllokalisierung;Source Localization;MATLAB;Mobile robots;Formation Control;Autonomous Navigation;Distributed Control;LiDAR Sensor;Unmanned Aerial Vehicles;Signal Processing;Obstacle Avoidance;Cooperative Navigation;Mission Planning and Decision Making;Multi-Vehicle Systems;Evolutionary Algorithms,;Robust Control;Guidance, Navigation and Control
Subject (DDC): 620 Ingenieurwissenschaften und zugeordnete Tätigkeiten
629 Andere Fachrichtungen der Ingenieurwissenschaften
Issue Date: 2024
Publisher: Helmut-Schmidt-Universität / Universität der Bundeswehr Hamburg
Document Type: Thesis
Publisher Place: Hamburg
Mobile robots have been utilized and have assisted humans for decades.
In recent years, even groups of robots have been used for specific tasks that require the control of each robot and the distribution of commands. Using groups of robots generally requires complex control structures to ensure the safety and performance of groups completing a mission. This work presents control structures for tasks such as source localization, formation control, position tracking, collision avoidance, and synthesis of an according controller. The stability of the system is examined. The mission objective of source localization and itsextension to global source localization is introduced and tackled using different algorithms. The work concludes with the implementation of a robot platform along with simulation and experimental results to show the performance of the presented methods. The main findings include the proposal of a synthesis problem for source localization with formation control, a methodology that allows the calculation of the maximum permitted delay in a multi-robot system, and implementation for source localization in an unknown indoor environment.
Organization Units (connected with the publication): Regelungstechnik 
Advisor: Horn, Joachim 
Referee: Scholl, Gerd
Grantor: HSU Hamburg
Type of thesis: PhD Thesis
Exam date: 2023-11-17
Appears in Collections:2 - Theses

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