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A Distributed Control Algorithm for Small Swarms in Cordon and Patrol

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.

Identiferoai:union.ndltd.org:BGMYU2/oai:scholarsarchive.byu.edu:etd-6924
Date01 June 2016
CreatorsAlder, C Kristopher
PublisherBYU ScholarsArchive
Source SetsBrigham Young University
Detected LanguageEnglish
Typetext
Formatapplication/pdf
SourceAll Theses and Dissertations
Rightshttp://lib.byu.edu/about/copyright/

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