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Search In T Cell And Robot Swarms: Balancing Extent And Intensity, George M. Fricke

Computer Science ETDs

This work investigates effective search and resource collection algorithms for swarms. Deterministic spiral algorithms and L ́evy search processes have been shown to be optimal for single searchers. We extend these strategies to swarms of robots and populations of T cells and measure performance under a variety of conditions.

Search extent and intensity lie on a continuum: more intensive patterns search thoroughly in the local area, while extensive patterns cover more area but may miss targets nearby. We show that the most efficient trade-off between search intensity and extent for swarms depends strongly on the distribution of targets, swarm size …

Hopscotch: Robust Multi-Agent Search, Edward C. Miles

Computer Science ETDs

The task of searching a space is critical to a wide range of diverse applications such as land mine clearing and planetary exploration. Because applications frequently require searching remote or hazardous locations, and because the task is easily divisible, it is natural to consider the use of multi-robot teams to accomplish the search task. An important topic of research in this area is the division of the task among robot agents. Interrelated with subtask assignment is failure handling, in the sense that, when an agent fails, its part of the task must then be performed by other agents. This thesis …