Distributed control and organization of communicating mobile robots: design, simulation, and experimentation:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Düren
Shaker Verlag
2021
|
| Schriftenreihe: | Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart
2021, Band 69 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis Inhaltsverzeichnis |
| Beschreibung: | X, 162 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm |
| ISBN: | 9783844081725 3844081720 |
Internformat
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| 100 | 1 | |a Ebel, Henrik |e Verfasser |0 (DE-588)1245076728 |4 aut | |
| 245 | 1 | 0 | |a Distributed control and organization of communicating mobile robots: design, simulation, and experimentation |c Henrik Ebel |
| 264 | 1 | |a Düren |b Shaker Verlag |c 2021 | |
| 300 | |a X, 162 Seiten |b Illustrationen, Diagramme |c 21 cm x 14.8 cm | ||
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| 490 | 1 | |a Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart |v 2021, Band 69 | |
| 502 | |b Dissertation |c Universität Stuttgart |d 2021 | ||
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Datensatz im Suchindex
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|---|---|
| adam_text | CONTENTS
ZUSAMMENFASSUNG
..........................................................................................................
VII
ABSTRACT
...........................................................................................................................
IX
1
INTRODUCTION
1
2
FUNDAMENTALS
FROM
MODELING
7
2.1
MECHANICAL
MODELING
-
MULTIBODY
SYSTEMS
....................................................
8
2.2
INFORMATION
MODELING
.........................................................................................
11
2.2.1
GRAPHS
.....................................................................................................
11
2.2.2
PATHS,
TRAJECTORIES,
AND
MOTION
PLANNING
...........................................
16
2.2.3
CONVEX
POLYTOPES
AND
CONVEXITY
.......................................................
18
2.2.4
WORKSPACE
MODELING
............................................................................
21
3
FUNDAMENTALS
FROM
DISTRIBUTED
CONTROL
AND
ORGANIZATION
25
3.1
OPTIMIZATION
.....................................................................................................
26
3.2
MODEL
PREDICTIVE
CONTROL
..................................................................................
30
3.2.1
THE
CONCEPT
OF
MODEL
PREDICTIVE
CONTROL
...................................
30
3.2.2
DISTRIBUTED
MPC
..................................................................................
38
3.3
GRAPH-ALGEBRAIC
CONTROL
..................................................................................
43
4
DESIGNING
A
SCHEME
FOR
COOPERATIVE
ROBOTIC
BEHAVIOR
47
4.1
DEFINING
FEATURES
OF
DISTRIBUTED
COOPERATIVE
BEHAVIOR
....................................
47
4.2
APPROACH
AND
SYSTEM
ARCHITECTURE
................................................................
49
4.3
A
CUSTOM
MOBILE
ROBOT
FOR
COOPERATIVE
TASKS
...........................................
53
4.3.1
HARDWARE
DESIGN
...................................................................................
54
VI
CONTENTS
4.3.2
MECHANICAL
MODEL
...................................................................................
56
4.3.3
SIMULATIVE
ANALYSIS
................................................................................
61
5
DISTRIBUTED
CONTROL
AND
ORGANIZATION
FOR
COOPERATIVE
ROBOTIC
BEHAV
IOR
67
5.1
FORMATION
CONTROL
............................................................................................
69
5.1.1
DMPC-BASED
FORMATION
CONTROLLER
....................................................
71
5.1.2
GRAPH-ALGEBRAIC
FORMATION
CONTROLLER
..............................................
77
5.1.3
PRACTICAL
CONSIDERATIONS
......................................................................
81
5.1.4
COMPARATIVE
ANALYSIS
..........................................................................
83
5.2
ORGANIZATION
FOR
COOPERATIVE
TRANSPORTATION
.................................................
94
5.2.1
FORMATION
SYNTHESIS
.............................................................................
95
5.2.2
NEGOTIATION
..............................................................................................
107
5.3
MAPPING
AND
PATH
PLANNING
...............................................................................
109
5.3.1
INDIVIDUAL
NAVIGATION
...............................................................................
109
5.3.2
GLOBAL
NAVIGATION
.....................................................................................
ILL
6
RESULTS
FROM
COOPERATIVE
TRANSPORTATION
117
6.1
SIMULATIVE
INVESTIGATION
.....................................................................................
117
6.2
EXPERIMENTAL
INVESTIGATION
..................................................................................
127
6.3
TRANSPORTATION
THROUGH
OBSTACLE-RIDDEN
ENVIRONMENTS
..............................
134
7
CONCLUSION
AND
OUTLOOK
139
APPENDIX
143
A.L
EXPRESSIONS
IN
THE
DMPC
FORMATION
CONTROLLER
.............................................
143
ABBREVIATIONS,
SYMBOLS,
AND
NOTATION
145
BIBLIOGRAPHY
149
|
| adam_txt |
CONTENTS
ZUSAMMENFASSUNG
.
VII
ABSTRACT
.
IX
1
INTRODUCTION
1
2
FUNDAMENTALS
FROM
MODELING
7
2.1
MECHANICAL
MODELING
-
MULTIBODY
SYSTEMS
.
8
2.2
INFORMATION
MODELING
.
11
2.2.1
GRAPHS
.
11
2.2.2
PATHS,
TRAJECTORIES,
AND
MOTION
PLANNING
.
16
2.2.3
CONVEX
POLYTOPES
AND
CONVEXITY
.
18
2.2.4
WORKSPACE
MODELING
.
21
3
FUNDAMENTALS
FROM
DISTRIBUTED
CONTROL
AND
ORGANIZATION
25
3.1
OPTIMIZATION
.
26
3.2
MODEL
PREDICTIVE
CONTROL
.
30
3.2.1
THE
CONCEPT
OF
MODEL
PREDICTIVE
CONTROL
.
30
3.2.2
DISTRIBUTED
MPC
.
38
3.3
GRAPH-ALGEBRAIC
CONTROL
.
43
4
DESIGNING
A
SCHEME
FOR
COOPERATIVE
ROBOTIC
BEHAVIOR
47
4.1
DEFINING
FEATURES
OF
DISTRIBUTED
COOPERATIVE
BEHAVIOR
.
47
4.2
APPROACH
AND
SYSTEM
ARCHITECTURE
.
49
4.3
A
CUSTOM
MOBILE
ROBOT
FOR
COOPERATIVE
TASKS
.
53
4.3.1
HARDWARE
DESIGN
.
54
VI
CONTENTS
4.3.2
MECHANICAL
MODEL
.
56
4.3.3
SIMULATIVE
ANALYSIS
.
61
5
DISTRIBUTED
CONTROL
AND
ORGANIZATION
FOR
COOPERATIVE
ROBOTIC
BEHAV
IOR
67
5.1
FORMATION
CONTROL
.
69
5.1.1
DMPC-BASED
FORMATION
CONTROLLER
.
71
5.1.2
GRAPH-ALGEBRAIC
FORMATION
CONTROLLER
.
77
5.1.3
PRACTICAL
CONSIDERATIONS
.
81
5.1.4
COMPARATIVE
ANALYSIS
.
83
5.2
ORGANIZATION
FOR
COOPERATIVE
TRANSPORTATION
.
94
5.2.1
FORMATION
SYNTHESIS
.
95
5.2.2
NEGOTIATION
.
107
5.3
MAPPING
AND
PATH
PLANNING
.
109
5.3.1
INDIVIDUAL
NAVIGATION
.
109
5.3.2
GLOBAL
NAVIGATION
.
ILL
6
RESULTS
FROM
COOPERATIVE
TRANSPORTATION
117
6.1
SIMULATIVE
INVESTIGATION
.
117
6.2
EXPERIMENTAL
INVESTIGATION
.
127
6.3
TRANSPORTATION
THROUGH
OBSTACLE-RIDDEN
ENVIRONMENTS
.
134
7
CONCLUSION
AND
OUTLOOK
139
APPENDIX
143
A.L
EXPRESSIONS
IN
THE
DMPC
FORMATION
CONTROLLER
.
143
ABBREVIATIONS,
SYMBOLS,
AND
NOTATION
145
BIBLIOGRAPHY
149 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Ebel, Henrik |
| author_GND | (DE-588)1245076728 |
| author_facet | Ebel, Henrik |
| author_role | aut |
| author_sort | Ebel, Henrik |
| author_variant | h e he |
| building | Verbundindex |
| bvnumber | BV048550353 |
| classification_rvk | ZQ 6250 ZQ 6230 |
| classification_tum | FER 986 |
| ctrlnum | (OCoLC)1294506661 (DE-599)DNB1237510708 |
| discipline | Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV048550353 |
| illustrated | Illustrated |
| index_date | 2024-07-03T20:57:08Z |
| indexdate | 2024-07-10T09:41:12Z |
| institution | BVB |
| isbn | 9783844081725 3844081720 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-033926748 |
| oclc_num | 1294506661 |
| open_access_boolean | |
| owner | DE-83 DE-29T DE-91G DE-BY-TUM |
| owner_facet | DE-83 DE-29T DE-91G DE-BY-TUM |
| physical | X, 162 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm |
| publishDate | 2021 |
| publishDateSearch | 2021 |
| publishDateSort | 2021 |
| publisher | Shaker Verlag |
| record_format | marc |
| series | Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart |
| series2 | Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart |
| spelling | Ebel, Henrik Verfasser (DE-588)1245076728 aut Distributed control and organization of communicating mobile robots: design, simulation, and experimentation Henrik Ebel Düren Shaker Verlag 2021 X, 162 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm txt rdacontent n rdamedia nc rdacarrier Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart 2021, Band 69 Dissertation Universität Stuttgart 2021 Archivierung/Langzeitarchivierung gewährleistet 2022 DISS DE-93 pdager Navigation (DE-588)4041457-7 gnd rswk-swf Hindernis (DE-588)4368704-0 gnd rswk-swf Fahrerloses Transportsystem (DE-588)4016284-9 gnd rswk-swf Kollisionsschutz (DE-588)4199255-6 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Mehrrobotersystem (DE-588)4734038-1 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Gruppensteuerung (DE-588)4378104-4 gnd rswk-swf Modellprädiktive Regelung (DE-588)1135937567 gnd rswk-swf Kooperatives Verhalten (DE-588)4123556-3 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Mobiler Roboter (DE-588)4191911-7 s Mehrrobotersystem (DE-588)4734038-1 s Kooperatives Verhalten (DE-588)4123556-3 s Gruppensteuerung (DE-588)4378104-4 s Fahrerloses Transportsystem (DE-588)4016284-9 s Navigation (DE-588)4041457-7 s Bahnplanung (DE-588)4267628-9 s Modellprädiktive Regelung (DE-588)1135937567 s Kollisionsschutz (DE-588)4199255-6 s Hindernis (DE-588)4368704-0 s DE-604 Düren (DE-588)4013237-7 gnd pup Stuttgart (DE-588)4058282-6 gnd uvp Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart 2021, Band 69 (DE-604)BV021301685 2021,69 B:DE-101 application/pdf https://d-nb.info/1237510708/04 2022-02-02 Verlag Inhaltsverzeichnis DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=033926748&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Ebel, Henrik Distributed control and organization of communicating mobile robots: design, simulation, and experimentation Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart Navigation (DE-588)4041457-7 gnd Hindernis (DE-588)4368704-0 gnd Fahrerloses Transportsystem (DE-588)4016284-9 gnd Kollisionsschutz (DE-588)4199255-6 gnd Mobiler Roboter (DE-588)4191911-7 gnd Mehrrobotersystem (DE-588)4734038-1 gnd Bahnplanung (DE-588)4267628-9 gnd Gruppensteuerung (DE-588)4378104-4 gnd Modellprädiktive Regelung (DE-588)1135937567 gnd Kooperatives Verhalten (DE-588)4123556-3 gnd |
| subject_GND | (DE-588)4041457-7 (DE-588)4368704-0 (DE-588)4016284-9 (DE-588)4199255-6 (DE-588)4191911-7 (DE-588)4734038-1 (DE-588)4267628-9 (DE-588)4378104-4 (DE-588)1135937567 (DE-588)4123556-3 (DE-588)4113937-9 |
| title | Distributed control and organization of communicating mobile robots: design, simulation, and experimentation |
| title_auth | Distributed control and organization of communicating mobile robots: design, simulation, and experimentation |
| title_exact_search | Distributed control and organization of communicating mobile robots: design, simulation, and experimentation |
| title_exact_search_txtP | Distributed control and organization of communicating mobile robots: design, simulation, and experimentation |
| title_full | Distributed control and organization of communicating mobile robots: design, simulation, and experimentation Henrik Ebel |
| title_fullStr | Distributed control and organization of communicating mobile robots: design, simulation, and experimentation Henrik Ebel |
| title_full_unstemmed | Distributed control and organization of communicating mobile robots: design, simulation, and experimentation Henrik Ebel |
| title_short | Distributed control and organization of communicating mobile robots: design, simulation, and experimentation |
| title_sort | distributed control and organization of communicating mobile robots design simulation and experimentation |
| topic | Navigation (DE-588)4041457-7 gnd Hindernis (DE-588)4368704-0 gnd Fahrerloses Transportsystem (DE-588)4016284-9 gnd Kollisionsschutz (DE-588)4199255-6 gnd Mobiler Roboter (DE-588)4191911-7 gnd Mehrrobotersystem (DE-588)4734038-1 gnd Bahnplanung (DE-588)4267628-9 gnd Gruppensteuerung (DE-588)4378104-4 gnd Modellprädiktive Regelung (DE-588)1135937567 gnd Kooperatives Verhalten (DE-588)4123556-3 gnd |
| topic_facet | Navigation Hindernis Fahrerloses Transportsystem Kollisionsschutz Mobiler Roboter Mehrrobotersystem Bahnplanung Gruppensteuerung Modellprädiktive Regelung Kooperatives Verhalten Hochschulschrift |
| url | https://d-nb.info/1237510708/04 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=033926748&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV021301685 |
| work_keys_str_mv | AT ebelhenrik distributedcontrolandorganizationofcommunicatingmobilerobotsdesignsimulationandexperimentation |
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Inhaltsverzeichnis