Monash University

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Generalization of Distributed Linear Consensus Strategy for the Formation of Trochoidal Patterns in Multi-agent Systems

posted on 2022-04-27, 08:07 authored by JEROME MOSES MONSINGH
This dissertation deals with the problem of geometric pattern formation by a group of autonomous agents. The patterns are formed by the trajectories of the agents, which are modelled either as single integrator kinematics or double integrator dynamics. The proposed control laws are distributed, which is an extension of the consensus protocol. The patterns can be used in multi-robot applications like search, coverage, surveillance, and so on. We derive the conditions for pattern formation for a more general graph topology. Computer simulations and multi-robot experiments are presented to validate the theoretical findings.


Campus location


Principal supervisor

Hoam Chung

Year of Award


Department, School or Centre

Mechanical and Aerospace Engineering

Additional Institution or Organisation

IITB-Monash Research Academy


Doctor of Philosophy (IITB-Monash)

Degree Type



Faculty of Engineering