Local encounters in robot swarms: From localization to density regulation.
Degree: PhD, Electrical and Computer Engineering, 2019, Georgia Tech
In naturally occurring swarms – living as well as non-living – local proximity encounters among individuals or particles in the collective facilitate a broad range of emergent phenomena. In the context of robot swarms operating with limited sensing and communication capabilities, this thesis demonstrates how the systematic analysis of inter-robot encounters can enable the swarm to perform useful functions without the presence of a central coordinator. We combine ideas from stochastic geometry, statistical mechanics, and biology to develop mathematical models which characterize the nature and frequency of inter-robot encounters occurring in a robot swarm. These models allow the swarm to perform functions like localization, task allocation, and density regulation, while only requiring individual robots to measure the presence of other robots in the immediate vicinity – either via contact sensors or binary proximity detectors. Moreover, the resulting encounter-based algorithms require no communication among the robots or the presence of a central coordinator, and are robust to individual robot failures occurring in the swarm. Throughout the thesis, experiments conducted on real robot swarms vindicate the idea that inter-robot encounters can be advantageously leveraged by individuals in the swarm.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Hutchinson, Seth (committee member), Goldman, Daniel (committee member), Wardi, Yorai (committee member), Shell, Dylan (committee member).
Subjects/Keywords: Robotics; Systems and control; Swarm robotics; Biologically-inspired robotics; Local encounters
to Zotero / EndNote / Reference
APA (6th Edition):
Mayya, S. (2019). Local encounters in robot swarms: From localization to density regulation. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62343
Chicago Manual of Style (16th Edition):
Mayya, Siddharth. “Local encounters in robot swarms: From localization to density regulation.” 2019. Doctoral Dissertation, Georgia Tech. Accessed March 05, 2021.
MLA Handbook (7th Edition):
Mayya, Siddharth. “Local encounters in robot swarms: From localization to density regulation.” 2019. Web. 05 Mar 2021.
Mayya S. Local encounters in robot swarms: From localization to density regulation. [Internet] [Doctoral dissertation]. Georgia Tech; 2019. [cited 2021 Mar 05].
Available from: http://hdl.handle.net/1853/62343.
Council of Science Editors:
Mayya S. Local encounters in robot swarms: From localization to density regulation. [Doctoral Dissertation]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/62343