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Leader-Follower Decentraliced Control of a Nanoquadrotor Swarm
Citation
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 |
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| Author/s: |
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| 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 |
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 |
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| DC Identifier: | https://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 |
