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Control With Guarantees for Minimalist Robotic Swarms
Control With Guarantees for Minimalist Robotic Swarms
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20250211152715
- ISBN
- 9798384053514
- DDC
- 629.8
- 저자명
- Sinhmar, Himani.
- 서명/저자
- Control With Guarantees for Minimalist Robotic Swarms
- 발행사항
- [Sl] : Cornell University, 2024
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2024
- 형태사항
- 227 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 86-03, Section: B.
- 주기사항
- Advisor: Kress Gazit, Hadas.
- 학위논문주기
- Thesis (Ph.D.)--Cornell University, 2024.
- 초록/해제
- 요약While there has been significant progress in expanding the capabilities of multiagent systems a key challenge is developing controllers and motion planners for robotic systems severely constrained by limited computational, sensing, and memory resources. These robots must operate with minimal environmental information and onboard resources, complicating the provision of theoretical guarantees for their collective behavior. This situation poses several interesting questions: given a task, how minimal can a robot's abilities be to guarantee the desired behavior while ensuring safety and robustness? Is it possible to design a framework that adjusts to a robot's constraints, such as memory or sensory limitations, in line with task demands? Moreover, what quantifiable trade-offs emerge when balancing onboard capabilities with the control design for minimal robots? In this dissertation, I explore these questions, focusing on providing theoretical guarantees to ensure the globally desired behavior of the collective. I show how we can design reactive controllers that are provably correct, utilizing only simple sensory inputs to form an environmental understanding. This approach is focused on multi-robotic tasks such as target search and encapsulation in unknown, unstructured, and dynamic environments. I provide quantifiable trade-offs between task objectives, system constraints, and control design parameters, paving the way for scalable, distributed robotic systems where traditional sensing and processing methods fall short.
- 일반주제명
- Robotics
- 일반주제명
- Computer science
- 키워드
- Swarm
- 기타저자
- Cornell University Aerospace Engineering
- 기본자료저록
- Dissertations Abstracts International. 86-03B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■007cr#unu||||||||
■020 ▼a9798384053514
■035 ▼a(MiAaPQ)AAI31489063
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a629.8
■1001 ▼aSinhmar, Himani.▼0(orcid)0000-0002-0458-9401
■24510▼aControl With Guarantees for Minimalist Robotic Swarms
■260 ▼a[Sl]▼bCornell University▼c2024
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2024
■300 ▼a227 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 86-03, Section: B.
■500 ▼aAdvisor: Kress Gazit, Hadas.
■5021 ▼aThesis (Ph.D.)--Cornell University, 2024.
■520 ▼aWhile there has been significant progress in expanding the capabilities of multiagent systems a key challenge is developing controllers and motion planners for robotic systems severely constrained by limited computational, sensing, and memory resources. These robots must operate with minimal environmental information and onboard resources, complicating the provision of theoretical guarantees for their collective behavior. This situation poses several interesting questions: given a task, how minimal can a robot's abilities be to guarantee the desired behavior while ensuring safety and robustness? Is it possible to design a framework that adjusts to a robot's constraints, such as memory or sensory limitations, in line with task demands? Moreover, what quantifiable trade-offs emerge when balancing onboard capabilities with the control design for minimal robots? In this dissertation, I explore these questions, focusing on providing theoretical guarantees to ensure the globally desired behavior of the collective. I show how we can design reactive controllers that are provably correct, utilizing only simple sensory inputs to form an environmental understanding. This approach is focused on multi-robotic tasks such as target search and encapsulation in unknown, unstructured, and dynamic environments. I provide quantifiable trade-offs between task objectives, system constraints, and control design parameters, paving the way for scalable, distributed robotic systems where traditional sensing and processing methods fall short.
■590 ▼aSchool code: 0058.
■650 4▼aRobotics
■650 4▼aComputer science
■653 ▼aCollision avoidance
■653 ▼aGuaranteed convergence
■653 ▼aMinimalist robots
■653 ▼aMulti-source encapsulation
■653 ▼aSwarm
■690 ▼a0771
■690 ▼a0984
■690 ▼a0800
■71020▼aCornell University▼bAerospace Engineering.
■7730 ▼tDissertations Abstracts International▼g86-03B.
■790 ▼a0058
■791 ▼aPh.D.
■792 ▼a2024
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17163497▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
