Stupid robot tricks : a behavior-based distributed algorithm library for programming swarms of robots
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004.
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| Format: | Thesis |
| Language: | en_US |
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Massachusetts Institute of Technology
2005
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| Online Access: | http://hdl.handle.net/1721.1/28550 |
| _version_ | 1826196375040163840 |
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| author | McLurkin, James D. (James Dwight), 1972- |
| author2 | Leslie P. Kaelbling and David Barrett. |
| author_facet | Leslie P. Kaelbling and David Barrett. McLurkin, James D. (James Dwight), 1972- |
| author_sort | McLurkin, James D. (James Dwight), 1972- |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004. |
| first_indexed | 2024-09-23T10:25:33Z |
| format | Thesis |
| id | mit-1721.1/28550 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:25:33Z |
| publishDate | 2005 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/285502019-04-10T22:13:38Z Stupid robot tricks : a behavior-based distributed algorithm library for programming swarms of robots McLurkin, James D. (James Dwight), 1972- Leslie P. Kaelbling and David Barrett. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004. Page 127 blank. Includes bibliographical references (p. 123-126). As robots become ubiquitous, multiple robots dedicated to a single task will become commonplace. Groups of robots can solve problems in fundamentally different ways than individuals while achieving higher levels of performance, but present unique challenges for programming and coordination. This work presents a set of communication techniques and a library of behaviors useful for programming large groups, or swarms, of robots to work together. The gradient-flood communications algorithms presented are resilient to the constantly changing network topology of the Swarm. They provide real-time information that is used to communicate data and to guide robots around the physical environment. Special attention is paid to ensure orderly removal of messages. Decomposing swarm actions into individual behaviors is a daunting task. Complex and subtle local interactions among individuals produce global behaviors, sometimes unexpectedly so. The behavior library presented provides group behavior "building blocks" that interact in predictable manner and can be combined to build complex applications. The underlying distributed algorithms are scaleable, robust, and self-stabilizing. The library of behaviors is designed with an eye towards practical applications, such as exploration, searching, and coordinated motion. All algorithms have been developed and tested on a swarm of 100 physical robots. Data is presented on algorithm correctness and efficiency. stabilizing. The library of behaviors is designed with an eye towards practical applications, such as exploration, searching, and coordinated motion. All algorithms have been developed and tested on a swarm of 100 physical robots. Data is presented on algorithm correctness and efficiency. by James D. McLurkin. S.M. 2005-09-27T16:57:21Z 2005-09-27T16:57:21Z 2004 2004 Thesis http://hdl.handle.net/1721.1/28550 57402161 en_US M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 127 p. 11680192 bytes 11695973 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. McLurkin, James D. (James Dwight), 1972- Stupid robot tricks : a behavior-based distributed algorithm library for programming swarms of robots |
| title | Stupid robot tricks : a behavior-based distributed algorithm library for programming swarms of robots |
| title_full | Stupid robot tricks : a behavior-based distributed algorithm library for programming swarms of robots |
| title_fullStr | Stupid robot tricks : a behavior-based distributed algorithm library for programming swarms of robots |
| title_full_unstemmed | Stupid robot tricks : a behavior-based distributed algorithm library for programming swarms of robots |
| title_short | Stupid robot tricks : a behavior-based distributed algorithm library for programming swarms of robots |
| title_sort | stupid robot tricks a behavior based distributed algorithm library for programming swarms of robots |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/28550 |
| work_keys_str_mv | AT mclurkinjamesdjamesdwight1972 stupidrobottricksabehaviorbaseddistributedalgorithmlibraryforprogrammingswarmsofrobots |