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Dissertation/Thesis Abstract

Distributed control for robotic swarms using centroidal Voronoi tessellations
by Rounds, Shelley, M.S., Utah State University, 2008, 144; 1465781
Abstract (Summary)

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 a cooperative robot team that can sense, predict, and finally neutralize a diffusion process. Previous work on the MASnet platform has served as a foundation for this research. While growing closer to the MASnet goal, results also provide stimulating discoveries for mathematical and swarm research areas.

Indexing (document details)
Advisor: Chen, YangQuan
Commitee: Baktur, Reyhan, Ren, Wei
School: Utah State University
Department: Electrical and Computer
School Location: United States -- Utah
Source: MAI 47/06M, Masters Abstracts International
Subjects: Robotics
Keywords: Centroidal Voronoi tessellations, Formation control, Phototaxis, Robotics, Swarm
Publication Number: 1465781
ISBN: 978-1-109-26056-4
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