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Development and Analysis of Stochastic Boundary Coverage Strategies for Multi-Robot Systems


Abstract Robotic technology is advancing to the point where it will soon be feasible to deploy massive populations, or swarms, of low-cost autonomous robots to collectively perform tasks over large domains and time scales. Many of these tasks will require the robots to allocate themselves around the boundaries of regions or features of interest and achieve target objectives that derive from their resulting spatial configurations, such as forming a connected communication network or acquiring sensor data around the entire boundary. We refer to this spatial allocation problem as boundary coverage. Possible swarm tasks that will involve boundary coverage include cooperative load manipulation for applications in construction, manufacturing, and disas... (more)
Created Date 2016
Contributor Peruvemba Kumar, Ganesh (Author) / Berman, Spring M (Advisor) / Fainekos, Georgios (Advisor) / Bazzi, Rida (Committee member) / Syrotiuk, Violet (Committee member) / Taylor, Thomas (Committee member) / Arizona State University (Publisher)
Subject Computer science / Mechanical engineering / Mathematics / Boundary Coverage / Collective Transport / Communication Graph / Multi-Robot Systems / Stochastic Controller
Type Doctoral Dissertation
Extent 173 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note Doctoral Dissertation Computer Science 2016
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis