Leader Based Cyclic Pursuit
| dc.contributor.advisor | Krishnaprasad, P S | en_US |
| dc.contributor.advisor | Galloway, Kevin S | en_US |
| dc.contributor.author | Miltenberger, Kenneth L. | en_US |
| dc.contributor.department | Electrical Engineering | en_US |
| dc.contributor.publisher | Digital Repository at the University of Maryland | en_US |
| dc.contributor.publisher | University of Maryland (College Park, Md.) | en_US |
| dc.date.accessioned | 2016-06-22T06:18:59Z | |
| dc.date.available | 2016-06-22T06:18:59Z | |
| dc.date.issued | 2016 | en_US |
| dc.description.abstract | In this work a system of autonomous agents engaged in cyclic pursuit (under constant bearing (CB) strategy) is considered, for which one informed agent (the leader) also senses and responds to a stationary beacon. Building on the framework proposed in a previous work on beacon-referenced cyclic pursuit, necessary and suffi- cient conditions for the existence of circling equilibria in a system with one informed agent are derived, with discussion of stability and performance. In a physical testbed, the leader (robot) is equipped with a sound sensing apparatus composed of a real time embedded system, estimating direction of arrival of sound by an Interaural Level and Phase Difference Algorithm, using empirically determined phase and level signatures, and breaking front-back ambiguity with appropriate sensor placement. Furthermore a simple framework for implementing and evaluating the performance of control laws with the Robot Operating System (ROS) is proposed, demonstrated, and discussed. | en_US |
| dc.identifier | https://doi.org/10.13016/M29N4H | |
| dc.identifier.uri | http://hdl.handle.net/1903/18413 | |
| dc.language.iso | en | en_US |
| dc.subject.pqcontrolled | Electrical engineering | en_US |
| dc.subject.pqcontrolled | Robotics | en_US |
| dc.subject.pqcontrolled | Acoustics | en_US |
| dc.subject.pquncontrolled | collective behavior | en_US |
| dc.subject.pquncontrolled | cyclic pursuit | en_US |
| dc.subject.pquncontrolled | leader based | en_US |
| dc.subject.pquncontrolled | nonlinear control | en_US |
| dc.subject.pquncontrolled | robot phonotaxis | en_US |
| dc.subject.pquncontrolled | sound source localization | en_US |
| dc.title | Leader Based Cyclic Pursuit | en_US |
| dc.type | Thesis | en_US |