Multi-threat containment with dynamic wireless neighborhoods

Publication Year:
2008
Usage 25
Downloads 21
Abstract Views 4
Repository URL:
https://scholarworks.rit.edu/theses/3138
Author(s):
Ransom, Nathan
Tags:
Multi-threat containment; Robot swarm; Robot team; Wireless communication
thesis / dissertation description
Advances in the areas of robotics have greatly increased the complexity and number of problems that groups of robots are able to solve. This work deals with the use of homogeneous and autonomous robots to dynamically form teams in order to solve a multi-threat containment problem. The multi-threat containment problem has the robot teams surround a number of threats which may occur randomly. Approaches with and without utilizing wireless communication are proposed and analyzed with a focus on the effects of using wireless. Simulation results show the benefit of the proposed integrated algorithm and its performance in different scenarios. Simulations will be run in the MAHESHDAS simulator, a simulation tool designed for modeling of autonomous robots. MAHESHDAS allows for the simulation of dynamic robot teams and wireless communication between robots. Simulated scenarios will also examine known issues that have been found in previous work in multi-threat containment.