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Authors
Advisor(s)
Abstract(s)
Dynamical systems theory in this work is used as a theoretical language
and tool to design a distributed control architecture for a team of three
robots that must transport a large object and simultaneously avoid collisions with
either static or dynamic obstacles. The robots have no prior knowledge of the
environment. The dynamics of behavior is defined over a state space of behavior
variables, heading direction and path velocity. Task constraints are modeled
as attractors (i.e. asymptotic stable states) of the behavioral dynamics. For each
robot, these attractors are combined into a vector field that governs the behavior.
By design the parameters are tuned so that the behavioral variables are always
very close to the corresponding attractors. Thus the behavior of each robot is
controlled by a time series of asymptotical stable states. Computer simulations
support the validity of the dynamical model architecture.