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Connectivity Maintenance of Robotic Swarms with Local Communications in Presence of Obstacle

Moradi Kashkouli, Hamid | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42773 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasty, Aria
  7. Abstract:
  8. Swarm Robotics consists of homogonous robots with considerable abilities. In recent years, engineering applications, including multi-agent control and air vehicles have been existed and engineers have been interested more in multi-agent systems. Currently, progressive number of studies is being done on decreasing the expenses, developing applicability and compactness of robots. Exchanging some simple robots with a complicated robot results omitting over-complexity and expensive equipments. This project is looking for a method for emerging connectivity and consequently maintaining it for a swarm robotic suffering from limited communication. Limited communication means that agent distinguish other agents within a specified distance and only have access to local information. In this study, Artificial Potential Functions are used to cause interaction between agents. In this method, an artificial potential exists around each agent, and its equilibrium shapes the configuration of the group. Because of limited communication, two kinds of problem might happen. First, the group may be initially disconnected and secondly connections might be lost during the motion. In the first problem, because of initial positions, final configuration will not be connected and one goal in this project is to establish unity in these conditions. In addition, the unity is lost with high probability as swarm is passing an obstacle. Solving such problems is also main goal of this project.Consequently, a group of six real robots are run in the laboratory and some of theoretical part of this project is implement on them.

  9. Keywords:
  10. Robotic Swarm ; Artificial Potential Field ; Connectivity Maintenance ; Limited Communication

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