| In this dissertation, new algorithms for formation control of multi agent systems (MAS) based on continuum mechanics principles will be suggested. For this purpose, agents of the MAS are considered as particles in a continuum, evolving in Rn, whose desired configuration is required to satisfy an admissible deformation function. Considered is a specific class of mappings that are called homogenous where the Jacobian of the mapping is only a function of time and is not spatially varying. The primary objectives of this dissertation are to develop the necessary theory and its validation on a mobile-agent based swarm test bed that includes two primary tasks: 1) homogenous transformation of MAS and 2) deployment of a random distribution of agents on a desired configuration. Developed will be a framework based on homogenous transformations for the evolution of an MAS in an n-dimensional space (n=1,2, and 3), under1) no inter-agent communication (predefined motion plan), 2) local inter-agent communication, and 3) intelligent perception by agents. In this dissertation, different communication protocols for MAS evolution that are based on certain special features of a homogenous transformation will be developed. It is also aimed to deal with the robustness of tracking of a desired motion by an MAS evolving in Rn. Furthermore, the effect of communication delays in an MAS evolving under consensus algorithms or homogenous maps is investigated. In this regard, the maximum allowable communication delay for MAS evolution is formulated on the basis of eigen-analysis. |
