Date of Award

1-1-2013

Document Type

Thesis

Degree Name

M.S.

Department

Computer Engineering

First Advisor

Kimon Valavanis

Second Advisor

Gareth R. Eaton

Keywords

Probabilistic Road Map, Robot Formation Control, Throughput

Abstract

In this thesis, we consider a team of robots forming a mobile robot network cooperating to accomplish a mission in an unknown but structured environment. The team has no a-priori knowledge of the environment. Robots have limited memory storage capabilities, not enough to map the environment. Each robot also has limited sensor capability and computational power. Due to the need to avoid obstacles and other environment effects, some robots get delayed from the rest. Using tracking controller, the robot team should follow the leader in a flexible formation shape without losing network connectivity, and that was achieved by monitoring the end-to-end throughput level.

Provenance

Recieved from ProQuest

Rights holder

FatmaZahra Ahmed BenHalim

File size

77 p.

File format

application/pdf

Language

en

Discipline

Computer engineering

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