Self-organization in large populations of mobile robots

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dc.contributor.authorUnsal, Cemen
dc.contributor.departmentElectrical Engineeringen
dc.date.accessioned2014-03-14T21:35:46Zen
dc.date.adate2009-05-09en
dc.date.available2014-03-14T21:35:46Zen
dc.date.issued1993en
dc.date.rdate2009-05-09en
dc.date.sdate2009-05-09en
dc.description.abstractA homogeneous population of robots described as an Army-ant swarm is to be realized for material transportation. Robots envisioned in the Army-ant scenario are relatively small, independent autonomous mobile robots that can cooperatively carry palletized loads. In this thesis, the agents are treated as a self-organizing system of moving points. This characteristic makes the Army-ant swarm a modular, adaptive, and dynamic system. Several algorithms for the spatial self-organization of the robots are given. Self-organizing agents can arrange themselves geometrically in two- and three-dimensional space using only local information about teammates. The method is a distributed one: each agent uses only the information obtained by its own sensors. Algorithms are based on feasible assumptions. It is also shown possible to divide such a population into different groups around goals by communicating minimal data. Data transfer has a broadcast characteristic. Behavioral self-organization in the Army-ant scenario is also investigated. Activation and inhibition relations between robots determine the behavior (position in a behavioral space) of the agents, while in spatial self-organization force fields are in effect. Several problems which may be encountered and the solution to some of these problems are outlined. Methods for communication and cooperative decision systems — such as coupled van der Pol oscillators — in finding and carrying the pallets are proposed. Sensors and communication systems that may be used in the Army-ant scenario are also briefly discussed.en
dc.description.degreeMaster of Scienceen
dc.format.extentxi, 128 leavesen
dc.format.mediumBTDen
dc.format.mimetypeapplication/pdfen
dc.identifier.otheretd-05092009-040444en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-05092009-040444/en
dc.identifier.urihttp://hdl.handle.net/10919/42542en
dc.language.isoenen
dc.publisherVirginia Techen
dc.relation.haspartLD5655.V855_1993.U572.pdfen
dc.relation.isformatofOCLC# 28922317en
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subject.lccLD5655.V855 1993.U572en
dc.subject.lcshMobile robotsen
dc.titleSelf-organization in large populations of mobile robotsen
dc.typeThesisen
dc.type.dcmitypeTexten
thesis.degree.disciplineElectrical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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