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3
.vscode/tasks.json vendored
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{
"label": "Compile thesis",
"type": "shell",
"command": "latexmk -pdf thesis.tex article.tex && latexmk -pdf -c thesis.tex article.tex"
"command": "latexmk -pdf thesis.tex article.tex && latexmk -pdf -c thesis.tex article.tex",
"problemMatcher": []
}
]
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BAB1/art_pendahuluan.tex Normal file
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Penentuan koordinat tentangga dapat ditemukan dengang mengubah koordinat polar menjadi koordinat kartesian.
Koordinat polar membutuhkan panjang $d_a$, dan sudut $\alpha$.
Panjang $d_a$ adalah variable yang didapat dari sensor yang memberikan nilai jarak dari robot $A$ ke robot $B$,
akan tetapi untuk mendapatkan koordinat polar, pengukuran sudu $\alpha$ tidak tersedia.
Algoritama yang ditawarkan memanfaatkan hukum \textit{cosinus} pada segitiga untuk mendapatkan sudut tersebut.
\begin{figure}
\centering
\includegraphics[scale=.5]{BAB3/img/estimate_coordinate.png}
\caption{Strategi Penentuan Koordinat}
\label{fig:strategiPenentuanKoordinat}
\end{figure}
Dapat diperhatikan pada gambar~\ref{fig:strategiPenentuanKoordinat} untuk gambaran strateginya.
Robot $B \in \tetangga_A$, adalah tetangga dari robot $A$.
Pertama-tama, sebelum robot $A$ bergerak, disimpan terlebih dahulu nilai $d_a$,
atau dinotasikan dengan $d_a[k]$ sebagai jarak sebelum bergerak.
Lalu robot $A$ berjalan secara random kesegala arah dengan jarak $l_a$.
Disimpan kembali nilai jara $d_a$, atau dinotasikan dengan $d_a[k+1]$.
Setalah itu dapat ditentukan sudut $\alpha[k+1]$
\begin{align}
d_a[k]^2 & = d_a[k+1]^2 + l_a^2 + 2 d_a[k+1] l_a \cos{(\alpha[k+1])} \\
\alpha[k+1] & = cos^{-1}\Bigg( \frac{l_a^2 + d_a[k+1]^2 -d_a[k]^2}{2d_a[k+1]l_a} \Bigg)
\label{eq:algo_getAngle}
\end{align}
Sebelum $\alpha[k+1]$ digunakan, jarak $d_a[k+1]$ dan $d_a[k]$ berpengaruh dalam penentuan koordinat.
Sehingga diperlukan sedikit algoritma
\begin{align}
\alpha_i=
\begin{cases}
\alpha[k+1] & ,d_a[k+1] > d_a[k] \\
180-\alpha[k+1] & ,d_a[k+1] < d_a[k]
\end{cases}.\label{eq:init_relatif_koordinat}
\end{align}
Strategi pada gambar~\ref{fig:strategiPenentuanKoordinat} hanya berlaku apabila target ukur berhenti. Apabila dinotasikan koordinat $(x_B^A, y_B^A)$ adalah koordinat relatif robot $B$ terhadap $A$,
maka $(\dot{x}_B^A, \dot{y}_B^A)$ adalah notasi kecepatan koordinat dari robot B.
Dengan menggunakan persamaan~\eqref{eq:kinematika_robot} untuk menyelesaikan koordinat dalam
keadaan robot $B$ bergerak, yaitu mengirimkan informasi kecepatan koordinatnya
ke robot $A$. Lalu robot $A$ dapat mengkalkulasi koordinat relatif dengan persamaan berikut
\begin{align}
\alpha[k+1] & = \alpha[k]+tan^{-1} \Big[ \frac{\dot{x}_B^A}{\dot{y}_B^A} \Big]
\end{align}
dimana kondisi inisial adalah $\alpha[k] = \alpha_i$ diperoleh dari hasil strategi pada persamaan~\eqref{eq:init_relatif_koordinat}.
Dengan memanfaatkan kedua strategi tersebut dapat digunakan untuk
mengkalkulasi koordinat robot $B$ relatif terhadap robot $A$
\begin{align}
x_B^A = \begin{bmatrix}
x_B = d_a[k]\cos \alpha[k] \\
y_B = d_a[k]\sin \alpha[k]
\end{bmatrix}
\end{align}
Dalam strategi ini akan terjadi ketidak akuratan dalam pengukuran apabila target ukur
berada pada sudut $90^\circ$.
Akan tetapi, \kutip{Cao2007} sudah menjelaskan mengenai kriteria posisi agent ketika dalam kondisi inisial.
Yaitu semua agent tidak berada pada kondisi sejajar secara koordinat global.
\begin{algorithm}
\DontPrintSemicolon
\KwInput{
Integer $l_a>0$,
$\tetangga_i=getConnectionRobot()$, }
\KwOutput{$x_i^j$}
\If{isInisilised() == false}{
\tcc{inisialisasi}
\tcc{getRandomDirection() akan mengembalikan sudur random antara 0 - 360}
$dir = getRandomDirection()$\;
$d_{before} = getDistanceFromSensor(\tetangga_i)$\;
$r = \begin{bmatrix}
l_a \cos(dir) \\
l_a \sin(dir)
\end{bmatrix}$\;
\tcc{Menjalankan robot hingga mencapai setpoint}
\While{isSetpointReached()}{
$runRobotToSetpoint(r)$\;
}
\tcc{Mengambil jarak setelah robot mencapai setpoint}
$d_{after} = getDistanceFromSensor(\tetangga_i)$\;
\tcc{Mengkalkulasi sudut}
$ang = cos^{-1}\Bigg[ \frac{l_a^2 + d_{after}^2 -d_{before}^2}{2d_{before}l_a} \Bigg]$\;
}
\Else{
\tcc{mendapatkan infromasi state dari tetangga}
$\begin{bmatrix}
\dot{x}_B^A \\ \dot{y}_B^A
\end{bmatrix} = getState()$ \;
$ang = \alpha[k]+tan^{-1} \Big[ \frac{\dot{x}_B^A}{\dot{y}_B^A} \Big]$ \;
}
\If{$d_{before}<d_{after}$}
{
$ang = 180-ang$\;
}
\tcc{Menjadikan koordinat kartesian}
\Return $x_i^j = \begin{bmatrix}
d_{after} \cos(ang) \\
d_{after} \sin(ang)
\end{bmatrix}$\;
\caption{\textit{Algoritma Cosinus}}
\label{algo:algoritma_cosinus}
\end{algorithm}

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@Comment{$ biblatex control file $}
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% Do not modify this file!
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% $ biblatex auxiliary file $
% $ biblatex bbl format version 3.1 $
% Do not modify the above lines!
%
% This is an auxiliary file used by the 'biblatex' package.
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\datalist[entry]{nyt/global//global/global}
\entry{Cao2007}{inproceedings}{}
\name{author}{5}{}{%
{{hash=CM}{%
family={{Cao}},
familyi={C\bibinitperiod},
given={M.},
giveni={M\bibinitperiod},
}}%
{{hash=MAS}{%
family={{Morse}},
familyi={M\bibinitperiod},
given={A.\bibnamedelima S.},
giveni={A\bibinitperiod\bibinitdelim S\bibinitperiod},
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familyi={A\bibinitperiod},
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{{hash=DS}{%
family={{Dasguvta}},
familyi={D\bibinitperiod},
given={S.},
giveni={S\bibinitperiod},
}}%
}
\keyw{distributed control;mobile robots;multi-robot systems;spatial
variables control;triangular formation;mobile autonomous agents;collinear
formations;distributed control law;Autonomous agents;USA Councils;Distributed
control;H infinity control;Differential equations;Information
technology;Art;Australia Council}
\strng{namehash}{CM+1}
\strng{fullhash}{CMMASYCABDODS1}
\field{labelnamesource}{author}
\field{labeltitlesource}{title}
\field{labelyear}{2007}
\field{labeldatesource}{}
\field{sortinit}{C}
\field{sortinithash}{C}
\field{abstract}{%
This paper proposes a distributed control law for maintaining a triangular
formation in the plane consisting of three mobile autonomous agents. It is
shown that the control law can cause any initially non-collinear,
positively-oriented {resp. negatively-oriented} triangular formation to
converge exponentially fast to a desired positively-oriented {resp.
negatively- oriented} triangular formation. It is also shown that there is a
thin set of initially collinear formations which remain collinear and may
drift off to infinity as t rarr infin. These findings complement and extend
earlier findings cited below.%
}
\field{booktitle}{2007 46th IEEE Conference on Decision and Control}
\verb{doi}
\verb 10.1109/CDC.2007.4434757
\endverb
\field{issn}{0191-2216}
\field{pages}{3603\bibrangedash 3608}
\field{title}{Controlling a triangular formation of mobile autonomous
agents}
\field{year}{2007}
\warn{\item Invalid format of field 'month'}
\endentry
\enddatalist
\endinput

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article.tex
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\documentclass[twoside,twocolumn]{article}
\usepackage{uithesis}
\usepackage{blindtext} % Package to generate dummy text throughout this template
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\usepackage{lettrine} % The lettrine is the first enlarged letter at the beginning of the text
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\usepackage{titling} % Customizing the title section
\usepackage{hyperref} % For hyperlinks in the PDF
\addbibresource{OTHER/references.bib}
\input{laporan_setting}
\include{hype.indonesia}
%----------------------------------------------------------------------------------------
% TITLE SECTION
%----------------------------------------------------------------------------------------
@ -96,85 +63,81 @@
% ARTICLE CONTENTS
%----------------------------------------------------------------------------------------
\section{Introduction}
\section{Pendahuluan}
\lettrine[nindent=0em,lines=3]{L} orem ipsum dolor sit amet, consectetur adipiscing elit.
\blindtext % Dummy text
\blindtext % Dummy text
\include{BAB1/art_pendahuluan}
% \blindtext % Dummy text
% \blindtext % Dummy text
%------------------------------------------------
\section{Methods}
\section{Metode}
\include{BAB4/art_metode}
% Maecenas sed ultricies felis. Sed imperdiet dictum arcu a egestas.
% \begin{itemize}
% \item Donec dolor arcu, rutrum id molestie in, viverra sed diam
% \item Curabitur feugiat
% \item turpis sed auctor facilisis
% \item arcu eros accumsan lorem, at posuere mi diam sit amet tortor
% \item Fusce fermentum, mi sit amet euismod rutrum
% \item sem lorem molestie diam, iaculis aliquet sapien tortor non nisi
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% \blindtext % Dummy text
Maecenas sed ultricies felis. Sed imperdiet dictum arcu a egestas.
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\item sem lorem molestie diam, iaculis aliquet sapien tortor non nisi
\item Pellentesque bibendum pretium aliquet
\end{itemize}
\blindtext % Dummy text
Text requiring further explanation\footnote{Example footnote}.
% Text requiring further explanation\footnote{Example footnote}.
%------------------------------------------------
\section{Results}
\section{Hasil}
\include{BAB5/art_hasil}
\begin{table}
\caption{Example table}
\centering
\begin{tabular}{llr}
\toprule
\multicolumn{2}{c}{Name} \\
\cmidrule(r){1-2}
First name & Last Name & Grade \\
\midrule
John & Doe & $7.5$ \\
Richard & Miles & $2$ \\
\bottomrule
\end{tabular}
\end{table}
% \begin{table}
% \caption{Example table}
% \centering
% \begin{tabular}{llr}
% \toprule
% \multicolumn{2}{c}{Name} \\
% \cmidrule(r){1-2}
% First name & Last Name & Grade \\
% \midrule
% John & Doe & $7.5$ \\
% Richard & Miles & $2$ \\
% \bottomrule
% \end{tabular}
% \end{table}
\blindtext % Dummy text
% \blindtext % Dummy text
\begin{equation}
\label{eq:emc}
e = mc^2
\end{equation}
% \begin{equation}
% \label{eq:emc}
% e = mc^2
% \end{equation}
\blindtext % Dummy text
% \blindtext % Dummy text
%------------------------------------------------
\section{Discussion}
\section{Diskusi}
\include{BAB5/art_diskusi}
\subsection{Subsection One}
% \subsection{Subsection One}
A statement requiring citation \cite{Figueredo:2009dg}.
\blindtext % Dummy text
% A statement requiring citation \cite{Figueredo:2009dg}.
% \blindtext % Dummy text
\subsection{Subsection Two}
% \subsection{Subsection Two}
\blindtext % Dummy text
% \blindtext % Dummy text
%----------------------------------------------------------------------------------------
% REFERENCE LIST
%----------------------------------------------------------------------------------------
\begin{thebibliography}{99} % Bibliography - this is intentionally simple in this template
\bibitem[Figueredo and Wolf, 2009]{Figueredo:2009dg}
Figueredo, A.~J. and Wolf, P. S.~A. (2009).
\newblock Assortative pairing and life history strategy - a cross-cultural
study.
\newblock {\em Human Nature}, 20:317--330.
\end{thebibliography}
\renewcommand{\bibname}{\mybibname}
\section{\bibname}
\printbibliography[title=\bibname]
%----------------------------------------------------------------------------------------

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% Package
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\fancyfoot[R]{\footnotesize \bo{ }}
\renewcommand{\footrulewidth}{0.0pt}
\renewcommand{\footrulewidth}{0.0pt}
\pagestyle{fancy}
\renewcommand{\footrulewidth}{0.0pt}
\renewcommand{\footrulewidth}{0.0pt}
\renewcommand{\footrulewidth}{0.0pt}
\pagestyle{fancy}
}
{
}
\@ifclassloaded{article}
{
\pagestyle{fancy} % All pages have headers and footers
\fancyhead{} % Blank out the default header
\fancyfoot{} % Blank out the default footer
\fancyhead[C]{Running title $\bullet$ May 2016 $\bullet$ Vol. XXI, No. 1} % Custom header text
\fancyfoot[RO,LE]{\thepage} % Custom footer tex
}
{
}
%-----------------------------------------------------------------------------%
@ -367,7 +494,14 @@
\renewcommand{\listtablename}{Daftar Tabel}
%
%
\@ifclassloaded{report}
{
\renewcommand{\chaptername}{BAB}
}
{
}
%
%
\renewcommand{\figurename}{\bo{Gambar}}