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Self-organized Formation of Geometric Patterns in Multi-Robot Swarms Using Wireless Communication

Swaminathan, Karthikeyan
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1123200892

Abstract Details

2005, MS, University of Cincinnati, Engineering : Electrical Engineering.
The field of collective robotics exploits the use of technologically simple robots, deployed in large numbers, to collectively perform complex tasks. Here, the real challenge is in developing simple algorithms, which the robots can execute autonomously based on data from their vicinity to achieve global behavior. Such systems are called self-organized systems and have numerous advantages over single sophisticated robots. In this thesis, we focus on the problem of pattern formation, especially circle formation, through self-organization in multi-robot systems. In this regard, the Suzuki model of sensor-based multi-robot systems is the most popular. However, their model assumes unlimited visibility for the robots – a feature that is nearly impossible to achieve in practice. To address this issue, we adopt a communication-based model in which the robots interact through explicit wireless communication but within a limited range. Specific to this model, we present two novel decentralized algorithms – the Batch Broadcast of Coordinates (BBC) Algorithm and the Individual Broadcast of Coordinates (IBC) Algorithm – for circle formation. The BBC algorithm is a transitional method that leads from the circle formation algorithm presented by Suzuki, Tanaka et al. (referred here as the Ideal Algorithm) to the IBC algorithm. The IBC algorithm was analyzed and found to be comparable in performance with the Ideal Algorithm and to be highly robust to communication losses. The circle algorithm was then employed as a means for solving other formation and organization problems in the communication based multi-robots. This involved identifying specific robots to achieve different geometric patterns like lines, semicircles, triangles and squares, and to divide the group into subgroups, which could then perform specific group wise tasks. The algorithms that achieve these tasks are entirely distributed and do not need any manual intervention. The results from these studies are also presented.
Dr. Ali Minai (Advisor)
157 p.
Swarms; Self-organization

Recommended Citations

Citations

  • Swaminathan, K. (2005). Self-organized Formation of Geometric Patterns in Multi-Robot Swarms Using Wireless Communication [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1123200892

    APA Style (7th edition)

  • Swaminathan, Karthikeyan. Self-organized Formation of Geometric Patterns in Multi-Robot Swarms Using Wireless Communication. 2005. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1123200892.

    MLA Style (8th edition)

  • Swaminathan, Karthikeyan. "Self-organized Formation of Geometric Patterns in Multi-Robot Swarms Using Wireless Communication." Master's thesis, University of Cincinnati, 2005. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1123200892

    Chicago Manual of Style (17th edition)

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© 2005, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.