Distributed area search with a team of robots
Name
85480384-MIT.pdf
Description
Full printable version
Size
16.34 MB
Format
Adobe PDF
Checksum (MD5)
bfc4f5a26a106e80c7d857cff1c404fa
Author(s)
Tzanov, Velin K. (Velin Krassimirov)
Advisor(s)
Jonathan R. Bachrach.
Date Issued
2006
Publisher
Massachusetts Institute of Technology
Abstract
The main goal of this thesis is to demonstrate the applicability of the distributed systems paradigm to robotic systems. This goal is accomplished by presenting two solutions to the Distributed Area Search problem: organizing a team of robots to collaborate in the task of searching through an area. The first solution is designed for unreliable robots equipped with a reliable GPS-style localization system. This solution demonstrates the efficiency and fault-tolerance of this type of distributed robotic systems, as well as their applicability to the real world. We present a theoretically near-optimal algorithm for solving Distributed Area Search under this setting, and we also present an implementation of our algorithm on an actual system, consisting of twelve robots. The second solution is designed for a completely autonomous system, without the aid of any centralized subsystem. It demonstrates how a distributed robotic system can solve a problem that is practically unsolvable for a single-robot system.
Description
Thesis (M. Eng. and S.B.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2006.
Includes bibliographical references (p. 109-111).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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