Graduate Studies


First Advisor

Santosh K. Pitla

Second Advisor

Yeyin Shi

Third Advisor

Joe D. Luck

Date of this Version


Document Type



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


Copyright 2023, Terence Irumva


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