Distributed formation control for autonomous robots

摘要

This thesis addresses several theoretical and practical problems related to formation-control of autonomous robots. Formation-control aims to simultaneously accomplish the tasks of forming a desired shape by the robots and controlling their coordinated collective motion. This kind of robot performance is a cornerstone in the emerging field of swarm robotics, in particular with applications in precision agriculture, coverage of sport/art events, communication networks, area surveillance or vehicle platooning for energy efficiency and many others. One of the most important outcomes of this thesis is that the provided algorithms are completely distributed. This means that there is no central unit commanding the robots, but they have their own intelligence which allows them to make their own decisions based only on the local information. A distributed scheme entails a striking feature about the scalability and maintenance of a team of robots. Moreover, we also address the scenario of having wrongly calibrated sensors, which has a profound impact in the performance of the robots. The provided algorithms make the robots robust against such a practical and very common problem in real applications.