Leader-Follower Decentraliced Control of a Nanoquadrotor Swarm

Escribano García-Machín, Cristina (2019). Leader-Follower Decentraliced Control of a Nanoquadrotor Swarm. Proyecto Fin de Carrera / Trabajo Fin de Grado, E.T.S.I. Industriales (UPM).

Description

Title: Leader-Follower Decentraliced Control of a Nanoquadrotor Swarm
Author/s:
  • Escribano García-Machín, Cristina
Contributor/s:
  • Gambao Galán, Ernesto
  • Verginis, Christos
Item Type: Final Project
Degree: Grado en Ingeniería en Tecnologías Industriales
Date: 3 February 2019
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (5MB) | Preview

Abstract

This thesis presents an adaptive control coordination of a swarm of aerial robots in order to be able to develop cooperative tasks. The aim is to test a decentralized algorithm in drones to check its behavior and illustrate theoretical findings. More detailed, the algorithm purpose is to track a trajectory while guarantee collision avoidance between agents and, also, keep certain robots inside their sense area, within the meaning of a connected sensing graph that has to remain connected. The codification of the control has been done in Python and ROS. Simulation results are provided in order to be able to make comparisons between different graph and trajectories and, even more, to make future comparisons with new algorithms

More information

Item ID: 54200
DC Identifier: http://oa.upm.es/54200/
OAI Identifier: oai:oa.upm.es:54200
Deposited by: Biblioteca ETSI Industriales
Deposited on: 07 Mar 2019 07:55
Last Modified: 06 May 2019 22:30
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM