Multi-robot systems (MRS) have been show to be very effective for applications requiring unskilled agents collecting simple information from a large number of points. Such applications fundamentally require a global coordinate frame which is common to all robots in the swarm to share information. This work proposes a distributed, probabilistic approach to localizing the nodes of a swarm and suggests a control system architecture built on top of it that takes full advantage of it. The resulting localization mechanism is robust to node failures and under/over-constrained networks.
|Commitee:||Lotfi, Nima, Matta, John|
|School:||Southern Illinois University at Edwardsville|
|School Location:||United States -- Illinois|
|Source:||MAI 82/7(E), Masters Abstracts International|
|Subjects:||Robotics, Information Technology, Technical Communication, Artificial intelligence, Remote sensing|
|Keywords:||Multi-robot systems (MRS) , Unskilled agents, Global coordinate frame, Robot swarms, Information sharing, Under-constrained networks, Over-constrained networks|
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