Nathan Ransom

Abstract

Advances in the areas of robotics have greatly increased the complexity and number of problems that groups of robots are able to solve. This work deals with the use of homogeneous and autonomous robots to dynamically form teams in order to solve a multi-threat containment problem. The multi-threat containment problem has the robot teams surround a number of threats which may occur randomly. Approaches with and without utilizing wireless communication are proposed and analyzed with a focus on the effects of using wireless. Simulation results show the benefit of the proposed integrated algorithm and its performance in different scenarios. Simulations will be run in the MAHESHDAS simulator, a simulation tool designed for modeling of autonomous robots. MAHESHDAS allows for the simulation of dynamic robot teams and wireless communication between robots. Simulated scenarios will also examine known issues that have been found in previous work in multi-threat containment.

Library of Congress Subject Headings

Autonomous robots--Control systems--Computer simulation; Robots--Control systems--Computer simulation; Robots--Programming; Swarm intelligence; Wireless communication systems

Publication Date

5-1-2008

Document Type

Thesis

Department, Program, or Center

Computer Engineering (KGCOE)

Advisor

Czernikowski, Roy

Advisor/Committee Member

Cockburn, Juan

Comments

Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works. Physical copy available through RIT's The Wallace Library at: TJ211.495 .R357 2008

Campus

RIT – Main Campus

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