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M.P. van der Marel
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Formation control problems consider a set of mobile agents with the underlying goal of attaining and maintaining a state where the relative positions of agents are stable in accordance with the desired configuration.
Navigation for formation control is typically achieved through localization in a global reference frame, e.g., via GNSS. However, when a global reference frame is not shared among agents, a relative navigation approach is required.
Distributed filtering for relative localization in formation control systems is a relatively unexplored field.
The absence of absolute positioning means motivates the need for a distributed filter that operates on the edges of the sensing graph of the multi-agent system.
In this thesis, a data model for relative formation control problems and two edge-based Kalman filters are proposed. The first filter is designed for an individual edge. The second is a filter designed via decoupling of the optimal global filter which allows for the joint estimation of adjacent edges. It is shown that the joint filter is optimal under the decoupling constraints.
Monte Carlo results show that when random environmental disturbances are correlated among agents, the joint filter outperforms the local edge filter in a mean square error sense.
Lastly, systems are considered where inter-agent communications are unavailable, leading to biased prediction steps of the Kalman filters. We aim to minimize this effect through the proposal of a local Wiener filter which predicts the control actions of neighboring agents. ...
Navigation for formation control is typically achieved through localization in a global reference frame, e.g., via GNSS. However, when a global reference frame is not shared among agents, a relative navigation approach is required.
Distributed filtering for relative localization in formation control systems is a relatively unexplored field.
The absence of absolute positioning means motivates the need for a distributed filter that operates on the edges of the sensing graph of the multi-agent system.
In this thesis, a data model for relative formation control problems and two edge-based Kalman filters are proposed. The first filter is designed for an individual edge. The second is a filter designed via decoupling of the optimal global filter which allows for the joint estimation of adjacent edges. It is shown that the joint filter is optimal under the decoupling constraints.
Monte Carlo results show that when random environmental disturbances are correlated among agents, the joint filter outperforms the local edge filter in a mean square error sense.
Lastly, systems are considered where inter-agent communications are unavailable, leading to biased prediction steps of the Kalman filters. We aim to minimize this effect through the proposal of a local Wiener filter which predicts the control actions of neighboring agents. ...
Formation control problems consider a set of mobile agents with the underlying goal of attaining and maintaining a state where the relative positions of agents are stable in accordance with the desired configuration.
Navigation for formation control is typically achieved through localization in a global reference frame, e.g., via GNSS. However, when a global reference frame is not shared among agents, a relative navigation approach is required.
Distributed filtering for relative localization in formation control systems is a relatively unexplored field.
The absence of absolute positioning means motivates the need for a distributed filter that operates on the edges of the sensing graph of the multi-agent system.
In this thesis, a data model for relative formation control problems and two edge-based Kalman filters are proposed. The first filter is designed for an individual edge. The second is a filter designed via decoupling of the optimal global filter which allows for the joint estimation of adjacent edges. It is shown that the joint filter is optimal under the decoupling constraints.
Monte Carlo results show that when random environmental disturbances are correlated among agents, the joint filter outperforms the local edge filter in a mean square error sense.
Lastly, systems are considered where inter-agent communications are unavailable, leading to biased prediction steps of the Kalman filters. We aim to minimize this effect through the proposal of a local Wiener filter which predicts the control actions of neighboring agents.
Navigation for formation control is typically achieved through localization in a global reference frame, e.g., via GNSS. However, when a global reference frame is not shared among agents, a relative navigation approach is required.
Distributed filtering for relative localization in formation control systems is a relatively unexplored field.
The absence of absolute positioning means motivates the need for a distributed filter that operates on the edges of the sensing graph of the multi-agent system.
In this thesis, a data model for relative formation control problems and two edge-based Kalman filters are proposed. The first filter is designed for an individual edge. The second is a filter designed via decoupling of the optimal global filter which allows for the joint estimation of adjacent edges. It is shown that the joint filter is optimal under the decoupling constraints.
Monte Carlo results show that when random environmental disturbances are correlated among agents, the joint filter outperforms the local edge filter in a mean square error sense.
Lastly, systems are considered where inter-agent communications are unavailable, leading to biased prediction steps of the Kalman filters. We aim to minimize this effect through the proposal of a local Wiener filter which predicts the control actions of neighboring agents.
Motion Reference Unit Testing Platform
MRU Assessment
Bachelor thesis
(2018)
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Martijn van der Marel, Casper van der Horst, Rob Remis, Frank Nieuwenhuizen, Ioan Lager, Pascal Aubry
In order to make offshore working conditions safer, Ampelmann B.V. builds platforms that stay stable by compensating for a ship’s motion. These platforms are controlled via motion reference units (MRUs). In order to test the performances of these MRUs, a linear motion MRU test setup was developed. The system was divided into three parts: hardware, software and MRU assessment. This thesis focuses on the design and implementation of the MRU assessment part and on testing MRUs with the complete prototype setup.
Ampelmann supplied the MRU with which the test were conducted. Validation tests have been done with a simulator and with the setup itself. Included in the assessment of the MRUs was the latency, signal-tonoise ratio and low-frequency behaviour, compared to a ground truth. Concluded from the tests was that the designed test setup has potential to accurately assess the performance of MRUs. There are some minor improvements to be made, but the overall system works as intended. ...
Ampelmann supplied the MRU with which the test were conducted. Validation tests have been done with a simulator and with the setup itself. Included in the assessment of the MRUs was the latency, signal-tonoise ratio and low-frequency behaviour, compared to a ground truth. Concluded from the tests was that the designed test setup has potential to accurately assess the performance of MRUs. There are some minor improvements to be made, but the overall system works as intended. ...
In order to make offshore working conditions safer, Ampelmann B.V. builds platforms that stay stable by compensating for a ship’s motion. These platforms are controlled via motion reference units (MRUs). In order to test the performances of these MRUs, a linear motion MRU test setup was developed. The system was divided into three parts: hardware, software and MRU assessment. This thesis focuses on the design and implementation of the MRU assessment part and on testing MRUs with the complete prototype setup.
Ampelmann supplied the MRU with which the test were conducted. Validation tests have been done with a simulator and with the setup itself. Included in the assessment of the MRUs was the latency, signal-tonoise ratio and low-frequency behaviour, compared to a ground truth. Concluded from the tests was that the designed test setup has potential to accurately assess the performance of MRUs. There are some minor improvements to be made, but the overall system works as intended.
Ampelmann supplied the MRU with which the test were conducted. Validation tests have been done with a simulator and with the setup itself. Included in the assessment of the MRUs was the latency, signal-tonoise ratio and low-frequency behaviour, compared to a ground truth. Concluded from the tests was that the designed test setup has potential to accurately assess the performance of MRUs. There are some minor improvements to be made, but the overall system works as intended.