KTH ROYAL INSTITUTEOF TECHNOLOGYMulti agent control

for cooperative coverage

CandidateMario Sposato

ExaminersProf. Karl Henrik Johansson

Prof. Dimos Dimarogonas

SupervisorAntonio Adaldo

Stockholm, SwedenFebruary 25th, 2016

Overview

● Introduction

● Modelling and control

● Path Planning

● Coverage problem

● Experiments

● Conclusions and future developments.

Introduction

● Mission: autonomous deployment of a team of aerial robots to collect information over a given environment.

● Networked UAVs used as mobile sensors.

Modelling

Control design

● Problem: Regulation to a point and trajectory tracking:

where is a given reference trajectory.

● Possible solution: backstepping procedure

+

Control design: Backstepping

● Finding a Candidate Lyapunov Function and designing a control input to stabilize to zero.

● Three steps of the backstepping procedure give:

1.

2.

3.

Control design: yaw control

● Track a reference trajectory for the yaw angle:

● We choose the controller

Control design: simulations

Control design: simulations

Path planning: potential fields

● Executed trajectories become smoother.

● Collision avoidance techniques can be implemented.

Path planning : Attractive term

Path planning : Collision avoidance

● Pushes the quadcopters away from each other when the distance is below a threshold ς and they are approaching each other.

Experiment: Collision avoidance

● A stick is used to represent a mobile obstacle.

● It can be seen that the quad is repelled by the stick.

Coverage problem: visibility function

● Objective: Deploy a set of mobile sensors to enhance the perception of a given environment.

Coverage problem: Abstraction

Coverage problem: formulation

Coverage problem: Voronoi configuration

● Definition: the system is said to be in a Voronoi configuration with tolerance ς > 0 if:

● Lemma: if a configuration (A,Q) is optimal, then it is also Voronoi.

Coverage problem: Proposed approachLandmarks transferring

Coverage problem: Proposed approachPose optimization

Coverage problem: distributed implementation

Coverage problem: distributed implementation

Coverage problem: distributed implementation

Coverage problem: distributed implementation

Comprehensive experiment

Conclusions and future developments

● Conclusion:

○ Model and Controller for the quadcopter.

○ Path planning with collision avoidance.

○ Coverage mission.

● Future development:

○ 3D coverage.

○ Cooperative structures inspection.

Thank you! - Questions?

● Thank you for your attention!

● Questions?