Title:
Local encounters in robot swarms: From localization to density regulation

dc.contributor.advisor Egerstedt, Magnus B.
dc.contributor.author Mayya, Siddharth
dc.contributor.committeeMember Hutchinson, Seth
dc.contributor.committeeMember Goldman, Daniel
dc.contributor.committeeMember Wardi, Yorai
dc.contributor.committeeMember Shell, Dylan
dc.contributor.department Electrical and Computer Engineering
dc.date.accessioned 2020-01-14T14:48:32Z
dc.date.available 2020-01-14T14:48:32Z
dc.date.created 2019-12
dc.date.issued 2019-11-11
dc.date.submitted December 2019
dc.date.updated 2020-01-14T14:48:32Z
dc.description.abstract In naturally occurring swarms---living as well as non-living---local proximity encounters among individuals or particles in the collective facilitate a broad range of emergent phenomena. In the context of robot swarms operating with limited sensing and communication capabilities, this thesis demonstrates how the systematic analysis of inter-robot encounters can enable the swarm to perform useful functions without the presence of a central coordinator. We combine ideas from stochastic geometry, statistical mechanics, and biology to develop mathematical models which characterize the nature and frequency of inter-robot encounters occurring in a robot swarm. These models allow the swarm to perform functions like localization, task allocation, and density regulation, while only requiring individual robots to measure the presence of other robots in the immediate vicinity---either via contact sensors or binary proximity detectors. Moreover, the resulting encounter-based algorithms require no communication among the robots or the presence of a central coordinator, and are robust to individual robot failures occurring in the swarm. Throughout the thesis, experiments conducted on real robot swarms vindicate the idea that inter-robot encounters can be advantageously leveraged by individuals in the swarm.
dc.description.degree Ph.D.
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/62343
dc.language.iso en_US
dc.publisher Georgia Institute of Technology
dc.subject Robotics
dc.subject Systems and control
dc.subject Swarm robotics
dc.subject Biologically-inspired robotics
dc.subject Local encounters
dc.title Local encounters in robot swarms: From localization to density regulation
dc.type Text
dc.type.genre Dissertation
dspace.entity.type Publication
local.contributor.advisor Egerstedt, Magnus B.
local.contributor.author Egerstedt, Magnus B.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
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relation.isAuthorOfPublication dd4872d3-2e0d-435d-861d-a61559d2bcb6
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relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
thesis.degree.level Doctoral
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