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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 …
The Awe Wall: A Novel Robotic Surface, Martha Kwoka
The Awe Wall: A Novel Robotic Surface, Martha Kwoka
All Theses
In this thesis, we present fundamental contributions towards AWE, a novel 'Animated Work Environment', which seeks to introduce robotics at the architectural scale to modify environments in real time to the changing needs and moods of their occupants. Part of AWE is a robotic surface, or wall, featuring a multiple folding panel structure. The panels of the AWE wall feature embedded IT and adapt to the current movements and tasks of the user. We describe the overall AWE concept and discuss the construction of the robot surface, its motion planning and its control, and all experiments run to this point.