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Abstract:
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The coverage expansions with the end to end communication network preservation by mobile sensor system- a multi-robot system which is main problem in many interesting research, there are including two parts which are generation formation and control formation. In the thesis using decentralized control, Graph theory and behavior control to solve generation formation. The decentralized control is originally built up by behavior control but upgraded with connectivity maintenance and hierarchical connectivity removal. The algorithm is completely decentralized where each agent receives information only from its neighbors, and uses this information to update its control law at each step of the iteration. The Graph-Theoretic Model which is ideal to creates some formations of network in multi-robot system and the results obtained in this paper are that it can create some formation such as: line formation, triangle formation,hexagon formation and polygons formation.
The purpose of this thesis is to create a simulation of a multi- robot system using many algorithms were mentioned above to generation formation control. It was simulated successfully and the result will be presented in next section. |