Santos Fernandez, Maria Teresa.
Coverage control: From heterogeneous robot teams to expressive swarms.
Degree: PhD, Electrical and Computer Engineering, 2020, Georgia Tech
Coverage control constitutes a canonical multi-robot coordination strategy that allows a collection of robots to distribute themselves over a domain to optimally monitor the relevant features of the environment. This thesis examines two different aspects of the coverage problem. On the one hand, we investigate how coverage should be performed by a multi-robot team with heterogeneous sensor equipment in the presence of qualitatively different types of events or features in the domain, which may evolve over time. To this end, different information exchange strategies among the robots are considered, and the performance of the resulting distributed control laws is compared experimentally on a team of mobile robots. In addition, we present a constraint-based approach that allows the multi-robot team to cover different types of features whose locations in the domain may evolve other time. On the other hand, in the context of swarm robotics in the arts, this thesis investigates how the coverage paradigm, which affords the control of the entire multi-robot team through the high-level specification of density functions, can serve as an effective interaction modality for artists to effectively utilize robotic swarms in different forms of art expression. In particular, we explore the use of coverage, along with other standard multi-robot control algorithms, to create emotionally expressive behaviors for robot theatre applications. Furthermore, the heterogeneous coverage framework developed in this thesis is employed to interactively control desired concentrations of color throughout a canvas for the purpose of artistic multi-robot painting.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Hutchinson, Seth (committee member), Howard, Ayanna (committee member), Coogan, Samuel (committee member), Kumar, Vijay (committee member).
Subjects/Keywords: Robotics; Systems and controls; Swarm robotics; Heterogeneous multi-robot systems; Robots and arts
to Zotero / EndNote / Reference
APA (6th Edition):
Santos Fernandez, M. T. (2020). Coverage control: From heterogeneous robot teams to expressive swarms. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/63690
Chicago Manual of Style (16th Edition):
Santos Fernandez, Maria Teresa. “Coverage control: From heterogeneous robot teams to expressive swarms.” 2020. Doctoral Dissertation, Georgia Tech. Accessed September 20, 2020.
MLA Handbook (7th Edition):
Santos Fernandez, Maria Teresa. “Coverage control: From heterogeneous robot teams to expressive swarms.” 2020. Web. 20 Sep 2020.
Santos Fernandez MT. Coverage control: From heterogeneous robot teams to expressive swarms. [Internet] [Doctoral dissertation]. Georgia Tech; 2020. [cited 2020 Sep 20].
Available from: http://hdl.handle.net/1853/63690.
Council of Science Editors:
Santos Fernandez MT. Coverage control: From heterogeneous robot teams to expressive swarms. [Doctoral Dissertation]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/63690