Experiments in modeling and control of multi-agent systems

This thesis is focused on experimental work in modeling and control of physical multi-vehicle systems. Control algorithms have been implemented to achieve autonomous co-operative behavior on multi-vehicle aerial systems. These vehicles accomplish tasks like rendezvous maneuvers and maintaining formations under different conditions, without requiring a central coordinator. Also, a model is developed for vehicular traffic for conditions wherein human drivers do not follow lane discipline. This highly complex interactive behavior is observed, and laws of interaction are proposed and verified.