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.
BYU ScholarsArchive Citation
Alder, C Kristopher, "A Distributed Control Algorithm for Small Swarms in Cordon and Patrol" (2016). Student Works. 176.
https://scholarsarchive.byu.edu/studentpub/176
Document Type
Peer-Reviewed Article
Publication Date
2016-06-01
Permanent URL
http://hdl.lib.byu.edu/1877/etd8685
Language
english
College
Physical and Mathematical Sciences
Department
Computer Science
Copyright Status
2016-06
Copyright Use Information
I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, and specifically allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Brigham Young University and its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation, or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report.