Date of Award

1-1-2013

Document Type

Masters Thesis

Degree Name

M.S.

Organizational Unit

Daniel Felix Ritchie School of Engineering and Computer Science

First Advisor

Kimon Valavanis, Ph.D.

Second Advisor

Gareth R. Eaton, Ph.D.

Third Advisor

Matthew Rutherford

Fourth Advisor

Jun Zhang

Fifth Advisor

Robert Whitman

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.

Publication Statement

Copyright is held by the author. User is responsible for all copyright compliance.

Rights Holder

FatmaZahra Ahmed BenHalim

Provenance

Received from ProQuest

File Format

application/pdf

Language

en

File Size

77 p.

Discipline

Computer engineering

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Robotics Commons

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