Author :
Publisher :
ISBN 13 :
Total Pages : 360 pages
Book Rating : 4.:/5 (879 download)
Book Synopsis Control, Security and Realization of Multi-robot Systems by :
Download or read book Control, Security and Realization of Multi-robot Systems written by and published by . This book was released on 2014 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: As mobile robotic applications continue to expand at a fast pace, the study of multi-robot coordination remains primarily experimental at present. In the future, being able to have groups of mobile robots work together effectively in a real-world environment will revolutionize industry and society. This dissertation analyzes the control and communication security of a Multi-Robot System (MRS), and seeks to develop novel methods that would be effective and feasible to implement in a practical application. The control techniques presented in this dissertation are applied to the task of controlling the formation of a MRS. An effective and computationally efficient algorithm for a single robot to track its assigned position in a formation is developed by exploiting Lyapunov stability theory. This high-level formation control algorithm is then integrated with a low-level obstacle avoidance algorithm that is based on optimal control principles. The resulting decentralized control algorithm performs well and operates on very few operational and environmental assumptions. The control algorithms were tested in computer simulations, as well as real world experiments. Elliptic Curve Cryptography (ECC) is a public key encryption system that yields very high security per key bit, as compared to other public key systems. The small key size is well-suited to embedded applications such as a MRS because memory is typically limited in such situations. However, because the compuational operations of an ECC system are fairly complex, it is very helpful to implement them in hardware using an FPGA. While there are many papers written on the subject of efficient implementations of ECC functionality, very few actually apply them to practical systems. This dissertation presents an FPGA system design for a special-purpose ECC co-processor. This co-processor communicates with the PCs that run the formation control algorithms and are used to encrypt and decrypt the data necessary for the formation control to work. The individual hardware modules were simulated to verify their functionality before downloading the entire system into an FPGA. Real world experiments show dramatic performance increases over equivalent implementations on a PC and demonstrate the feasibility of an ECC-based cryptosystem for use in a MRS network.
