Distributed collision-free traffic management via vertex cover for multi-vehicle systems

Rafiei, Mehrdad (2022) Distributed collision-free traffic management via vertex cover for multi-vehicle systems. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270], Documento full-text non disponibile
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Abstract

In this thesis, we state the collision avoidance problem as a vertex covering problem, then we consider a distributed framework in which a team of cooperating Unmanned Vehicles (UVs) aim to solve this optimization problem cooperatively to guarantee collision avoidance between group members. For this purpose, we implement a distributed control scheme based on a robust Set-Theoretic Model Predictive Control ( ST-MPC) strategy, where the problem involves vehicles with independent dynamics but with coupled constraints, to capture required cooperative behavior.

Abstract
Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Rafiei, Mehrdad
Relatore della tesi
Correlatore della tesi
Scuola
Corso di studio
Ordinamento Cds
DM270
Parole chiave
Distributed Optimization,Constraint-coupled Optimization,Cooperative Robotics,Collision Avoidance,Traffic Control,Autonomous Vehicles
Data di discussione della Tesi
5 Ottobre 2022
URI

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