1. 毕业设计（论文）的内容和要求
Basic RequirementsThis subject investigates formation control of multi-agent systems. The formation forming maintain for multi-robot systems in an environment cluttered with obstacles is studied. Through the design of formation control law, it leads a path from the initial position to the goal position avoiding all collisions with the obstacles and maintain the predefined formation． Finally，the integrated method of formation control has been verified by formation simulation experiment with wheeled mobile robots.Main Contents1、 Understand the concept of multi-agent systems, formation, obstacle avoidance；2、 Consider the multi wheeled mobile robots, design formation control method;3、 Carry out simulation verification on MATLAB multi wheeled mobile robots;4、 Carry out the physical verification experiment on the wheeled mobile robots.Related Requirements1、Read references at least 25；2、Finish the thesis proposal no more than 6000 words；3、Complete the thesis at least 20000 words.
2. 参考文献
[1] Olfati-Saber R, Fax A, Murray R M. Consensus and cooperation in networked multi-agent systems[J]. Proceedings of the IEEE, 2007, 95(1): 215-233.[2] Ren W, Beard R W. Distributed consensus in multi-vehicle cooperative control[M]. Springer-Verlag, London, 2008.[3] Cao Y, Stuart D, Ren W, et al. Distributed containment control for multiple autonomous vehicles with double-integrator dynamics: algorithms and experiments[J]. IEEE Transactions on Control Systems Technology, 2010, 19(4): 929-938. [4] Ren W, Sorensen N. Distributed coordination architecture for multi-robot formation control[J]. Robotics and Autonomous Systems, 2008, 56(4): 324-333.[5] Ren W. Consensus tracking under directed interaction topologies: Algorithms and experiments[C]//2008 American Control Conference. IEEE, 2008: 742-747.[6] Gamage G W, Mann G K I, Gosine R G. Leader follower based formation control strategies for nonholonomic mobile robots: Design, implementation and experimental validation[C]//Proceedings of the 2010 American control conference. IEEE, 2010: 224-229.[7] Vos E, van der Schaft A J, Scherpen J M A. Formation control and velocity tracking for a group of nonholonomic wheeled robots[J]. IEEE Transactions on Automatic Control, 2015, 61(9): 2702-2707.[8] Qiao W, Sipahi R. Consensus control under communication delay in a three-robot system: Design and experiments[J]. IEEE Transactions on Control Systems Technology, 2015, 24(2): 687-694.
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