Graduate Studies
First Advisor
Santosh K. Pitla
Second Advisor
Yeyin Shi
Third Advisor
Joe D. Luck
Date of this Version
12-2023
Citation
A thesis presented to the faculty of the Graduate College at the University of Nebraska in partial fulfillment of requirements for the degree of Master of Science
Major: Agricultural and Biological Systems Engineering
Under the supervision of Professor Santosh K. Pitla
Lincoln, Nebraska, December 2023
Abstract
In order to do a comprehensive research on multi-agent systems (MASs), it is imperative to consider the dynamic models of the agents, communication relationships between the agents, and control protocols to ensure consensus (Zhao et al., 2022). These are the three main aspects of a collaborative multi-agent system, and they are all crucial to the efficient operation of the system. In this research, we analyze a multi-agent system of unmanned ground and aerial agricultural vehicles operating collaboratively to complete a field task autonomously. Specifically, this research focuses on developing a collaboration model among ground and aerial agricultural robots that ensures consensus of the agents during an autonomous planting operation, and a coordination architecture governing the tasks allocation among the agents, and the exchange of states and information between the agents. Additionally, a 3-dimensional visual robotics simulation was developed to evaluate the developed collaboration models for visualizing how the collaboration of the heterogeneous agents would perform in a real-world setting.
Advisor: Santosh K. Pitla
Comments
Copyright 2023, Terence Irumva