This thesis focuses on developing of a distributed, efficient and fault tolerant
multiresolutional architecture for sensor networks. For demonstrative purpose, a
powerful simulation environment using 3D environment model has been developed.
The robot network is composed of autonomous robots capable of working
cooperatively equipped with single typed simple sensor. The developed layered
control architecture is hybrid including both subsumption and motor schema control
strategies. In this proposed control method, behaviors in different or in same layer
are coordinated with an evaluator unit that overcomes the difficulties of subsumption
based architectures in terms of behavioral coordination. The final coordination
between these layers is achieved cooperatively. We performed many simulation
experiments to test robot deployment, search and task execution. It is shown that
some important parameters such as target reaching time, energy consumption, and communication range can be optimized if an approximate prior information about the
environment is known. Robots executes task based on a task allocation algorithm.
Market based auction method is used as a task allocation algorithm with completely
different robot fitness evaluation method allowing a distributive problem solving. Six
non-linear fitness functions are developed to increase the fairness, and fault tolerance
of task allocation. These functions have been tested to represent the successes and
failures of robots in a compact form. Performance analyses test results have shown
that fairness increases two times more in task allocation when these fitness functions
are used, compared to the results existing fitness evaluation methods used in the
market based auction algorithms. Moreover, fault tolerance is increased by using
fitness functions devoted to failure conditions.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12606574/index.pdf |
| Date | 01 September 2005 |
| Creators | Akin, Berkant |
| Contributors | Erkmen, Ismet |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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