| Consensus control algorithms for multi-agent systems are an area of much research. Several consensus control laws are experimentally validated on a multi-robot testbed in this thesis. A graphical user interface (GUI) is developed that simplifies use of the testbed, as well as allows the execution of the testbed programs to be divided across multiple computers. This not only provides a more powerful computing environment, but a more realistic communication environment for the testbed. A method for a time varying or dynamic formation is both proposed and experimentally validated on the testbed. This research also explores a method for dynamic group resizing, i.e. addition or removal of members of the formation. Also, a new control law for synchronized oscillations is validated. Finally, a testbed for multiple cooperative Unmanned Air Vehicles (UAV) is developed for the Procerus UAV. |
