A testbed for control schemes using multi agent nonholonomic robots
Multi agent robots performing tasks together have significant advantages over a single robot. Applications of multi agent robots can be found in the fields of tele-surgery, hazardous waste cleanup, mine and ores detection and harvesting of agriculture fields. This paper presents the control analysis...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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2007
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| Online Access: | http://scholars.utp.edu.my/id/eprint/320/ http://scholars.utp.edu.my/id/eprint/320/1/paper.pdf |
| _version_ | 1848658959128330240 |
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| author | M.N., Karsiti S., Ahmed |
| author_facet | M.N., Karsiti S., Ahmed |
| author_sort | M.N., Karsiti |
| building | UTP Institutional Repository |
| collection | Online Access |
| description | Multi agent robots performing tasks together have significant advantages over a single robot. Applications of multi agent robots can be found in the fields of tele-surgery, hazardous waste cleanup, mine and ores detection and harvesting of agriculture fields. This paper presents the control analysis and develops a testbed to simulate different feedback control strategies using multi agent nonholonomic robots. Each multi agent robot communicate with other robots using Bluetooth piconet. The multi agent robot system is modeled in Simulink and simulation results are presented. The nonlinear feedback control strategy improves the system performance by minimizing the mean of the error. Furthermore, the nonlinear strategy globally asymptotically stabilizes the system using Lyapunov stability theory compared to the linear feedback strategy. The work presented here is an initial study concerning the design of feedback controllers for multi agent nonholonomic robots. ©2007 IEEE.
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| first_indexed | 2025-11-13T07:22:49Z |
| format | Conference or Workshop Item |
| id | oai:scholars.utp.edu.my:320 |
| institution | Universiti Teknologi Petronas |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-13T07:22:49Z |
| publishDate | 2007 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | oai:scholars.utp.edu.my:3202017-01-19T08:27:07Z http://scholars.utp.edu.my/id/eprint/320/ A testbed for control schemes using multi agent nonholonomic robots M.N., Karsiti S., Ahmed TK Electrical engineering. Electronics Nuclear engineering Multi agent robots performing tasks together have significant advantages over a single robot. Applications of multi agent robots can be found in the fields of tele-surgery, hazardous waste cleanup, mine and ores detection and harvesting of agriculture fields. This paper presents the control analysis and develops a testbed to simulate different feedback control strategies using multi agent nonholonomic robots. Each multi agent robot communicate with other robots using Bluetooth piconet. The multi agent robot system is modeled in Simulink and simulation results are presented. The nonlinear feedback control strategy improves the system performance by minimizing the mean of the error. Furthermore, the nonlinear strategy globally asymptotically stabilizes the system using Lyapunov stability theory compared to the linear feedback strategy. The work presented here is an initial study concerning the design of feedback controllers for multi agent nonholonomic robots. ©2007 IEEE. 2007 Conference or Workshop Item NonPeerReviewed application/pdf en http://scholars.utp.edu.my/id/eprint/320/1/paper.pdf M.N., Karsiti and S., Ahmed (2007) A testbed for control schemes using multi agent nonholonomic robots. In: 2007 IEEE International Conference on Electro/Information Technology, EIT 2007, 17 May 2007 through 20 May 2007, Chicago, IL. http://www.scopus.com/inward/record.url?eid=2-s2.0-47649121266&partnerID=40&md5=992593def3380e23688d74b6191b4d13 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering M.N., Karsiti S., Ahmed A testbed for control schemes using multi agent nonholonomic robots |
| title | A testbed for control schemes using multi agent nonholonomic robots
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| title_full | A testbed for control schemes using multi agent nonholonomic robots
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| title_fullStr | A testbed for control schemes using multi agent nonholonomic robots
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| title_full_unstemmed | A testbed for control schemes using multi agent nonholonomic robots
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| title_short | A testbed for control schemes using multi agent nonholonomic robots
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| title_sort | testbed for control schemes using multi agent nonholonomic robots |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://scholars.utp.edu.my/id/eprint/320/ http://scholars.utp.edu.my/id/eprint/320/ http://scholars.utp.edu.my/id/eprint/320/1/paper.pdf |