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2017, Distributed event-triggered control for collective target localization and circumnavigation

Goals of the thesis: solving event-triggered collective estimate and circumnavigation problem

The main goals of this thesis are:

  1. Obtaining a distributed algorithm in order to estimate the position of a target and letting a swarm of agents rotate around it while forming a regular polygon;
  2.  Achieveing the previous objectives using event-triggered measurements and event-triggered communications among agents: assuming that they share the same communication mean, the aim is to make the network exhibit certain desired behaviours with less communications and measurements possible;
  3. Expanding the possible scenarios to dynamical networks and larger number of agents;
  4. Evaluating the results with both theoretical and practical proofs, such as simulations in ROS and experiments with a swarm of Crazyflie 2.0 UAVs.