Securing and Maneuvering Heterogeneous Mobile Robot Formations: Distributed Control Design and Stability Analysis

Abstract

At last! The train ride labeled 'PhD' is coming to an end. Let me sit here for some more moments to recall the past 4`years while the train is at the destination, but not yet standing still. While doing so, allow me to address a few words to some particular individuals.The first on my list is Bayu. Bayu, terima kasih! I am grateful you have taken me under your wing in the past period. You have given me freedom to explore but also make sure I stay on the rails. You always have a smile on your face during our meetings which were not limited to only discussing research. I also thank you for the support you have shown me when I asked you for permission to conduct additional teaching duties after my involvement in the course 'Signals & Systems'.Dear Jacquelien, I am grateful to you for the discussions we had during the start of my PhD which led to Chapter 6 of the thesis and the good time we spent in Hong Kong! Needless to mention, the annual group outing we have and the 'nieuwjaarsrolletjes' with cream you bring at the start of each year.Gracias también to Hector with whom I have collaborated on different chapters of the thesis. Hector, your cheerful appearance during our e-meetings made them light-hearted.Who is next on the list? Yes, it is you Frederika, my favorite secretary! Dankjewel 1 for bringing a smile to my face whenever I see you. I look back with joy to starting the day in the secretary office with you and the other colleagues while having a sip of coffee or tea, and I will remember the stories you shared with me.I would like to express gratitude to my reading committee members. Thank you Ming Cao, Kanat Ç amlibel, and Dimos Dimarogonas for your time and effort.To all my former and current colleagues at DTPA, SMS, and ODS, thanks for having me! I am happy to be in your midst and occasionally also enjoy the group dynamics evolving from a spectator's view. Special mention goes to Xiaodong, 1 'u' is not preferred :) vii Hadi, Lulu, Hongyu, Wouter and of course my office mates Zaki, Bao, Carmen, Tábitha, and Liangming.I came to Groningen with the knowledge that I have to start from zero in terms of building a social circle. I am fortunate to say I will still be connected to Groningen by means of the following individuals: Jeroen, Jan, Mark, and Michel. Each of you has been a source of support when I needed to talk to somebody and you have allowed me to focus on stuff non-RUG related.I would also like to address some words to Ignaas Jimidar and Cyrano Vaseur, the two friends I have met since our Bachelor period in Suriname and with whom I enjoyed my Master period in Enschede. Thank you both for agreeing to be my paranymphs and more than that, thanks for being my friend. While we are some train hours apart, we always have lots to discuss when being together. My gratitude also to all the other people whom I have not mentioned.爸爸，妈妈，姐姐，很感谢你们给我机会和自由去做我想做的事，走自己的 路。爸爸，妈妈, 儿子快毕业了，您们不需要操心了。 Last on my list is Maarten. Dankjewel for having my back, and for regularly pulling me out of my work environment to discover the...