Title:
Leveraging distribution and heterogeneity in robot systems architecture

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dc.contributor.advisor Balch, Tucker
dc.contributor.author O'Hara, Keith Joseph en_US
dc.contributor.committeeMember Christensen, Henrik I.
dc.contributor.committeeMember Guzdial, Mark
dc.contributor.committeeMember Schwan, Karsten
dc.contributor.committeeMember Sukhatme, Gaurav
dc.contributor.department Computing en_US
dc.date.accessioned 2012-02-17T19:12:17Z
dc.date.available 2012-02-17T19:12:17Z
dc.date.issued 2011-08-03 en_US
dc.description.abstract Like computer architects, robot designers must address multiple, possibly competing, requirements by balancing trade-offs in terms of processing, memory, communication, and energy to satisfy design objectives. However, robot architects currently lack the design guidelines, organizing principles, rules of thumb, and tools that computer architects rely upon. This thesis takes a step in this direction, by analyzing the roles of heterogeneity and distribution in robot systems architecture. This thesis takes a systems architecture approach to the design of robot systems, and in particular, investigates the use of distributed, heterogeneous platforms to exploit locality in robot systems design. We show how multiple, distributed heterogeneous platforms can serve as general purpose robot systems for three distinct domains with different design objectives: increasing availability in a search and rescue mission, increasing flexibility and ease-of-use for a personal educational robot, and decreasing the computation and sensing resources necessary for navigation and foraging tasks. en_US
dc.description.degree PhD en_US
dc.identifier.uri http://hdl.handle.net/1853/42706
dc.publisher Georgia Institute of Technology en_US
dc.subject Multi-robot systems en_US
dc.subject Robot architecture en_US
dc.subject Robotics en_US
dc.subject Distributed robotics en_US
dc.subject Robot education en_US
dc.subject.lcsh Robots Programming
dc.subject.lcsh Robots
dc.subject.lcsh Robots, Industrial
dc.title Leveraging distribution and heterogeneity in robot systems architecture en_US
dc.type Text
dc.type.genre Dissertation
dspace.entity.type Publication
local.contributor.corporatename College of Computing
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
relation.isOrgUnitOfPublication c8892b3c-8db6-4b7b-a33a-1b67f7db2021
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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