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Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks


Abstract Swarms of low-cost, autonomous robots can potentially be used to collectively perform tasks over large domains and long time scales. The design of decentralized, scalable swarm control strategies will enable the development of robotic systems that can execute such tasks with a high degree of parallelism and redundancy, enabling effective operation even in the presence of unknown environmental factors and individual robot failures. Social insect colonies provide a rich source of inspiration for these types of control approaches, since they can perform complex collective tasks under a range of conditions. To validate swarm robotic control strategies, experimental testbeds with large numbers of robots are required; however, existing low-cost r... (more)
Created Date 2017
Contributor Wilson, Sean Thomas (Author) / Berman, Spring M (Advisor) / Artemiadis, Panagiotis (Committee member) / Sugar, Thomas (Committee member) / Rodriguez, Armando A (Committee member) / Taylor, Jesse (Committee member) / Arizona State University (Publisher)
Subject Robotics / Bio-inspired robotics / Collective transport / Distributed robotic systems / Mobile robots / Stochastic robotics / Swarm robotics
Type Doctoral Dissertation
Extent 208 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note Doctoral Dissertation Mechanical Engineering 2017
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis