7. External Examiner

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Asian Institute of TechnologyELECTRONIC DOCUMENTATION FORM1. TypeThesis2. TitleFormation Control of Multiple Mobile Robots using Vision Feedback3. AuthorMuhammad Musharraf Nadeem4. Name of Advisor/Committee MembersDr. Manukid Parnichkun (Advisor)Dr. Nitin Afzulpukar (Member)Dr. Matthew N. Dailey (Member)5. SchoolSchool of Engineering and Technology (SET)6. Field of StudyMechatronics Engineering (ME)7. External ExaminerNIL8. Expert Comments on the Work and Facility for the Feedback from the UsersThe work was proposed by the author personally and can be executed under different industrial and commercial applications.9. AbstractThis thesis presents: (1) a Framework for controlling and coordinating a group of holonomic mobile robots to maintain formations using the only sensing modality of vision feedback from an overhead camera; (2) Image processing algorithm for detecting robots and obstacles with direction and/or location information as desired; and (3) Design and development of a holonomic mobile platform.The framework is devised in general while the control algorithms are derived in particular, to maintain specific formations, and to enable robots controlling their position and orientation with respect to the Leader and/or neighboring robots or obstacles in the environment. A coordination protocol is formulated, as the second but most crucial level of the overall framework hierarchy, as it facilitates automatic switching between the control laws in order to maintain a specified formation. The controllers are developed as basic building blocks of the whole formation framework, enabling decentralized decision making by the robots individually. Follower robot’s trajectory is generated in real time at two different levels: first, when the robot is assembling into the desired formation shapewith the leader; and second, when the whole formation is moving along leader’s presumed trajectory. A virtual formation navigation strategy is proposed and tested for the two levels of trajectory generation task in common and first level in particular.Image processing algorithm is developed and tested for generating accurate position and direction estimates of the robots and objects, while the Formation Control Framework is separately simulated assuming various locations of the Leader and Follower robots and other objects. The resulting trajectories of the Formation points and Follower robots are then plotted and discussed for performance analysis. A design study of Omnidirectional robot is described in detail; the robot is also developed using locally sourced parts.10. KeywordsFormation ControlMultiple Agent SystemsVision FeedbackOmnidirectional RobotsSBCSSCBBCSD o CSwitching Control behaviors11. ReferencesR. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P.Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. J. Taylor, (2001) A framework and Architecture for multi-robot coordination, in Experimental Robotics VII, D. Rus and S. Singh, Eds. Newe York: Springer-Verlag, pp. 303-312.T. Balch, and R. Arkin, (1998) Behavior-based Formation Control for Multi-robot Teams, IEEE Transactions on Robotics and Automation, vol. 14, no. 6, pp. 926-934.T. Balch and R. C. Arkin, (1994). Communication in reactive Multi-Agent robotic systems, Autonomous Robots, 1(1):27--52.A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, C. J. Taylor, (2002, October)A Vision Based Formation Control Framework, in IEEE Transactions onRobotics and Automation, vol. 18, no. 5.Jaydev P. Desai, Jim Ostrowski, Vijay Kumar (1998, May) Controlling Formations of Multiple Mobile Robots, In Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, BelgiumA. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, C. J. Taylor, (2001) AFramework for Vision Based Formation Control, In IEEE Transactions on Robotics and Automation.A. Egorova et al. (2005): FU Fighters Small Size Team 2004, RoboCup-2004: RobotSoccer World Cup VIII, Springer-Verlag.A. Farinelli, L. Iocchi, D. Nardi, (2004) Multi-Robot Systems: A classification focusedon coordination, IEEE Transactions on System Man and Cybernetics, part B, pp.2015-2028R. Fierro, P. Song, A. K. Das and V. Kumar, (2002) Cooperative control of robot Formations, in Cooperative Control and Optimization, R. Murphy and P.Pardalos, Eds. Dordrecht, The NetherLands: Kluwer, ch.5, pp. 73-93R. C. Gonzalez, R. E. Woods (1992). Digital Image Processing, Addison-Wesley.L. Huang et al. (2004): Design and Analysis of a Four-wheel Omnidirectional Mobile Robot, In Proc. of the 2nd Int. Conf. on Autonomous Robots and Agents.F. v. Hundelshausen et al. (2003): FU-Fighters Team Description 2003, In RoboCup-2003 – Proceedings of the International Symposium.Igor E. Paromtchik, H. Asama, (2000) A Motion generation approach for an Omni-Directional Vehicle, IEEE International Conference on Robotics and Automation, April 24-28, San Francisco, AC, USA. Volume v, pp. f—lJ. E. Mohd Salih, M. Rizon, Sazali Y, Abdul Hamid Adom and Mohd R. Mamat, (2006) Designing Omni-Directional Mobile Robot with Mecanum Wheel, American Journal of Applied Sciences 3(5): 1831-1835, ISSN 1546-9239Norman Weiss, Lars Hildebrand (2004), An Exemplary Robot Soccer Vision System, Workshop on Robots in Entertainment, Leisure and Hobby, December 2 – 4, 2004, Vienna, AustriaParker, L. E. (2000). Current State of the Art in distributed Autonomous mobile Robotics.In Parker, L. E., Bekey, G., and Barhen, J., editors, Distributed Autonomous Robotic Systems, volume 4, pages 3-12. Springer, Tokyo.Raul Rojas and Alexander Gloye F¨orster, (2006). Holonomic Control of a robot with an omnidirectional drive, In KI - K¨unstliche Intelligenz, B¨ottcherIT Verlag.A. C. Sanderson and L. E. Weiss (1980). Image-based visual servo control usingrelational graph error signals. In Proceedings of IEEE International Conference, pp 1074-1077, 1980J. Spletzer, A. Das, R. Fierro, C. Taylor, V. Humar, and J. Ostrowski, (2001) Cooperative localization and control for multi-robot manipulation, In Proceedings of the conference on Intelligent robots and systems.Song, P. and Kumar, V, (2002) A potential field based approach to multi-robot manipulation, In IEEE International Conference on Robotics and Automation, pages 1217—1222.B.J. Young, R. W. Beard, J. M. Kelsey, (2000) Coordinated control of multiple robotsusing formation feedback, In IEEE Transactions on Robotics and Automation. 12. Type of ProjectNon-Sponsored, N/A13. Specific AgreementN/A。