MAE 598 MRS - Guidelines and Template for Final Course Project (3)
.pdf
keyboard_arrow_up
School
Arizona State University *
*We aren’t endorsed by this school
Course
598
Subject
Aerospace Engineering
Date
Dec 6, 2023
Type
Pages
3
Uploaded by HighnessFieldElk36
Guidelines for MAE 598 Multi-Robot Systems Final Project Report
Fall 2022
Total possible score:
150 points (+3 extra credit points)
Total possible score with minimum requirements:
135 points
-
This corresponds to a grade of (135/150)*100 =
90%
-
Recall from the syllabus that an
A
grade is in the range
[85%, 95%)
General guidelines:
•
The report may be written in LaTeX, Word, or whatever format you are comfortable with.
•
Any references that you cite can be (but do not have to be) references that you cited in your
literature review (Assignment 1).
•
The template for the report is on the next 2 pages.
Guidelines for team projects:
•
Submission:
Only one of the team members should submit the report, and any associated
files, to the
Final Course Project Assignment Page
on Canvas. The other team member(s)
should post a comment on their own submission page for the assignment with the name of
the team member who has submitted the report and files.
•
Division of labor:
Each of the team members should contribute approximately equal
amounts of the report material. Sections II-IV can be scaled up accordingly; for example,
each team member can define one of several models in Section II and analyze two
properties of their model in Section III. Each team member must
at least
contribute to
Section III (Analysis)
or
Section IV (Validation). In the report, identify the team member
who completed each part in Sections II-IV.
•
Grading:
The report will be assigned a single score out of 150 points. All team members
will receive this score if they each contributed approximately equal amounts of the report
material, and the report meets (and does not exceed) the minimum requirements.
Only team
members who contributed material
beyond
the minimum requirements (developing a new
model, designing a controller, using a multi-robot simulator or real robots for validation)
will receive the extra points associated with those parts. Team members who contributed
less than an approximately equal amount of the report material will receive a point
deduction that corresponds to the deficiency in their contribution.
Project Title
Name(s) of student or team members
I. Abstract
- Up to
3 points
Guidelines:
•
Similar to an abstract of a conference or journal paper
•
200
–
300 words long (closer to 200 words for individual projects, closer to 300 words for
team projects)
•
You may use text from your literature review (Assignment 1) and/or project proposal
Describe the type of multi-robot behavior that you investigate in the project and potential
applications of this behavior for multi-robot systems in practice. State the type of model(s) that
you use to describe the behavior, the particular properties of the behavior that you analyze (and
control, if you choose to do so), and the analysis (and control) techniques that you apply. Briefly
describe and summarize the results of the simulations or experiments that you conducted to
validate your analysis.
II. Mathematical Model
- Up to
32 points
if you use an existing model of the behavior. Up to
3 additional points
if you
expand upon an existing model or develop your own model using the techniques covered in class.
Describe the multi-robot behavior that you are investigating and a hypothetical scenario in
which you are applying it so solve a particular problem. State all assumptions and constraints; for
instance, the robots’ sensing and
communication capabilities, the information that the robots have
access to and how they acquire it, and the properties of the environment (e.g., bounded or
unbounded, whether it contains obstacles, the geometric properties of any obstacles if known).
Define all variables and parameters of your model, both in text and in figures (e.g., a diagram with
coordinate systems and the definitions of inter-robot distances and sensing ranges). Explain why
the assumptions, constraints, variables, and parameters are realistic for your hypothetical scenario.
Finally, define the mathematical model of the collective behavior, and cite at least 2 references
that introduced the model that you are using, or a model on which your model is based.
III. Theoretical Analysis
- Up to
50 points
if you prove 2 properties of the model. Up to
6 additional points
if you design
a controller for the model to achieve a desired collective behavior.
Examples of properties that you can prove:
the model’s equilibrium state, largest invariance
set, stability characteristics (e.g., asymptotically stable/marginally stable), and convergence rate to
equilibrium. Show your calculations in detail. Cite at least 3 references that describe the analytical
techniques that you use.
Your preview ends here
Eager to read complete document? Join bartleby learn and gain access to the full version
- Access to all documents
- Unlimited textbook solutions
- 24/7 expert homework help