Skip to Main Content
 

Global Search Box

 
 
 
 

Files

File List


27905.pdf (6.65 MB)

ETD Abstract Container

Abstract Header

Robot Swarm Based On Ant Foraging Hypothesis With Adaptive Levy Flights

Deshpande, Aditya
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1504780906566663

Abstract Details

2017, MS, University of Cincinnati, Engineering and Applied Science: Mechanical Engineering.
Design of robot swarms inspired by self-organization in social insect groups is currently an active research area with a diverse portfolio of potential applications. This thesis is focused on the development of control laws for swarm of robots inspired by ant foraging. Particularly, this work presents control laws for efficient area coverage by a robot swarm in a 2D spatial domain, inspired by the unique dynamical characteristics of ant foraging. The novel idea pursued in the effort is that dynamic, adaptive switching between Brownian motion and Levy flight in the stochastic component of the search increases the efficiency of the search and area coverage. The study is motivated by behaviors of certain biological studies who exhibit searching patterns modeled using Levy flight. Influence of different pheromone (the virtual chemotactic agent that drives the foraging) threshold values for switching between Levy flights and Brownian motion is studied using two performance metrics - area coverage and visit entropy. The results highlight the advantages of the switching strategy for the control framework, particularly in cases when the object of the search is scarce in quantity or getting depleted in real-time.
Manish Kumar, Ph.D. (Committee Chair)
Ali Minai, Ph.D. (Committee Member)
David Thompson, Ph.D. (Committee Member)
99 p.
Mechanical Engineering; Mechanics
Complex Systems; Multi-robot Systems; Swarm; Ant Foraging; Levy Flight; Robotics

Recommended Citations

Citations

  • Deshpande, A. (2017). Robot Swarm Based On Ant Foraging Hypothesis With Adaptive Levy Flights [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1504780906566663

    APA Style (7th edition)

  • Deshpande, Aditya. Robot Swarm Based On Ant Foraging Hypothesis With Adaptive Levy Flights. 2017. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1504780906566663.

    MLA Style (8th edition)

  • Deshpande, Aditya. "Robot Swarm Based On Ant Foraging Hypothesis With Adaptive Levy Flights." Master's thesis, University of Cincinnati, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1504780906566663

    Chicago Manual of Style (17th edition)

ucin1504780906566663
634
© 2017, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.