Development of robotic team for multiagent control problems

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Dr. Harmati István
Department of Control Engineering and Information Technology

Within the broad discipline of robotics, a very impressive segment is the studies of mobile robots and their cooperation. This topic affects thousands of opportunities for mechanical, hardware and software implementations of agents, the various navigation methods and the problems of cooperative game theory.

My thesis documents the development steps and assembly of a robot team consisting of mobile units, which are able to execute high level tasks. The objective of the thesis includes the configuration of drives of agents, implementation of on-board control unit’s and central coordination unit’s software and installation of communication.

An ultrasonic-based non-inertial navigation system was also created that is capable of determining the absolute position of the agents within a designated area. Using this measured location and odometry, the effective Kálmán-filter provides accurate estimates of the position of mobile robots.


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