Keywords

swarm, robots, distributed, cordon and search, robustness, graph theoretic

Abstract

Distributed teams of air and ground robots have the potential to be very useful in a variety of application domains, and much work is being done to design distributed algorithms that produce useful behaviors. This thesis presents a set of distributed algorithms that operate under minimal human input for patrol and cordon tasks. The algorithms allow the team to surround and travel between objects of interest. Empirical analyses indicate that the surrounding behaviors are robust to variations on the shape of the object of interest, communication loss, and robot failures.

Document Type

Peer-Reviewed Article

Publication Date

2016-06-01

Permanent URL

http://hdl.lib.byu.edu/1877/etd8685

Language

english

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