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Full-Text Articles in Robotics
Reducing Communication Delay Variability For A Group Of Robots, Goncalo Martins
Reducing Communication Delay Variability For A Group Of Robots, Goncalo Martins
Electronic Theses and Dissertations
A novel architecture is presented for reducing communication delay variability for a group of robots. This architecture relies on using three components: a microprocessor architecture that allows deterministic real-time tasks; an event-based communication protocol in which nodes transmit in a TDMA fashion, without the need of global clock synchronization techniques; and a novel communication scheme that enables deterministic communications by allowing senders to transmit without regard for the state of the medium or coordination with other senders, and receivers can tease apart messages sent simultaneously with a high probability of success. This approach compared to others, allows simultaneous communications without …
Robotic Swarming Without Inter-Agent Communication, Daniel Jonathan Standish
Robotic Swarming Without Inter-Agent Communication, Daniel Jonathan Standish
USF Tampa Graduate Theses and Dissertations
Many physical and algorithmic swarms utilize inter-agent communication to achieve advanced swarming behaviors. These swarms are inspired by biological swarms that can be seen throughout nature and include bee swarms, ant colonies, fish schools, and bird flocks. These biological swarms do not utilize inter-agent communication like their physical and algorithmic counterparts. Instead, organisms in nature rely on a local awareness of other swarm members that facilitates proper swarm motion and behavior. This research aims to pursue an effective swarm algorithm using only line-of-sight proximity information and no inter-agent communication. It is expected that the swarm performance will be lower than …