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Distributed Control For Robotic Swarms Using Centroidal Voronoi Tessellations, Shelley Rounds
Distributed Control For Robotic Swarms Using Centroidal Voronoi Tessellations, Shelley Rounds
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
This thesis introduces a design combining an emerging area in robotics with a well established mathematical research topic: swarm intelligence and Voronoi tessellations, respectively. The main objective for this research is to design an economical and robust swarm system to achieve distributed control. This research combines swarm intelligence with Voronoi tessellations to localize a source and create formations. Extensive software coding must be implemented for this design, such as the development of a discrete centroidal Voronoi tessellation (CVT) algorithm.
The ultimate purpose of this research is to advance the existing Mobile Actuator and Sensor Network (MASnet) platform to eventually develop …