Distributed Area Search with a Team of Robots
MEng thesis
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| Other Authors: | |
| Language: | en_US |
| Published: |
2006
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| Online Access: | http://hdl.handle.net/1721.1/34943 |
| _version_ | 1826194093749829632 |
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| author | Tzanov, Velin K. |
| author2 | Howard Shrobe |
| author_facet | Howard Shrobe Tzanov, Velin K. |
| author_sort | Tzanov, Velin K. |
| collection | MIT |
| description | MEng thesis |
| first_indexed | 2024-09-23T09:50:23Z |
| id | mit-1721.1/34943 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:50:23Z |
| publishDate | 2006 |
| record_format | dspace |
| spelling | mit-1721.1/349432019-04-15T00:40:36Z Distributed Area Search with a Team of Robots Tzanov, Velin K. Howard Shrobe AIRE robotics theory distributed systems MEng thesis The main goal of this thesis is to demonstrate the applicability of the distributed systems paradigm to robotic systems. This goal is accomplished by presenting two solutions to the Distributed Area Search problem: organizing a team of robots to collaborate in the task of searching through an area. The first solution is designed for unreliable robots equipped with a reliable GPS-style localization system. This solution demonstrates the efficiency and fault-tolerance of this type of distributed robotic systems, as well as their applicability to the real world. We present a theoretically near-optimal algorithm for solving Distributed Area Search under this setting, and we also present an implementation of our algorithm on an actual system, consisting of twelve robots. The second solution is designed for a completely autonomous system, without the aid of any centralized subsystem. It demonstrates how a distributed robotic system can solve a problem that is practically unsolvable for a single-robot system. 2006-12-05T20:42:13Z 2006-12-05T20:42:13Z 2006-12-05 MIT-CSAIL-TR-2006-079 http://hdl.handle.net/1721.1/34943 en_US Massachusetts Institute of Technology Computer Science and Artificial Intelligence Laboratory 111 p. 90018576 bytes 2179689 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | robotics theory distributed systems Tzanov, Velin K. Distributed Area Search with a Team of Robots |
| title | Distributed Area Search with a Team of Robots |
| title_full | Distributed Area Search with a Team of Robots |
| title_fullStr | Distributed Area Search with a Team of Robots |
| title_full_unstemmed | Distributed Area Search with a Team of Robots |
| title_short | Distributed Area Search with a Team of Robots |
| title_sort | distributed area search with a team of robots |
| topic | robotics theory distributed systems |
| url | http://hdl.handle.net/1721.1/34943 |
| work_keys_str_mv | AT tzanovvelink distributedareasearchwithateamofrobots |