COOPERATIVE CONTROL OF PAYLOAD TRANSPORT BY MOBILE MANIPULATOR COLLECTIVES

摘要

To my family and friendsAcknowledgement I would like to express my gratitude to my advisor, Dr. Venkat Krovi, for all the guidance and help in my graduate study at the University at Buffalo. He introduced the fabulous robotics world to me, and articulated many important concepts and ideas in an insightful and intuitive way. I believe all of these would be invaluable knowledge for my future career. I am honored to have Dr. Roger Mayne and Dr. Puneet Singla serving on my thesis committee. I am also grateful to Dr. Tarunraj Singh and Dr. John Crassidis for teaching me control theory and Dr. Kemper Lewis for helping me when I first came here. I would also like to thank all of the ARMLAB members, especially Rajan, Chin Pei, Leng-feng, Anand, Kun, Qiushi, Pat, Madu, Srikanth and Yao. A special thanks to Qiushi: as group partner in so many course projects with me, and the time of coding multi-robot simulator and studying biped locomotion is priceless treasure for me; as lab member, it is you that talked with me and helped me to solve many problems I met; as