Swarm robotics: Parallelized line formation
by Feldman, Alexander, M.S., UNIVERSITY OF MARYLAND, BALTIMORE COUNTY, 2008, 68 pages; 1460731

Abstract:

Swarm robotics is a fast growing field, where robots come together to collectively tackle tasks difficult to achieve otherwise. Physical connection is a common requirement, where a particular shape is desired. A line is one of the more common shapes, and leading research in the field demonstrates a line built sequentially, one robot at a time. This thesis discusses methods for significantly speeding up line formation by assigning the robots in parallel. A comprehensive approach is discussed. In order to reduce robot travel times, a regression line calculation is proposed. A total of seven different algorithms are presented, which assign the robots to the calculated line. A simulation environment is utilized to test run the proposed algorithms. Simulation results are compared against each other to draw performance conclusions, and select a winning algorithm.
 
AdviserTim Oates
SchoolUNIVERSITY OF MARYLAND, BALTIMORE COUNTY
SourceMAI/ 47-03, p. , Mar 2009
Source TypeThesis
SubjectsRobotics; Computer science
Publication Number1460731
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