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INTEGRATION OF COMMUNICATION CONSTRAINTS INTO PHYSIOCOMIMETICSWARMS VIA PLACEMENT OF LOCATION BASED VIRTUAL PARTICLES
Title
INTEGRATION OF COMMUNICATION CONSTRAINTS INTO PHYSIOCOMIMETICSWARMS VIA PLACEMENT OF LOCATION BASED VIRTUAL PARTICLES.
Creator
Haley, Joshua, Wiegand, R. Paul, University of Central Florida
Abstract / Description
This thesis describes a change to the Physiocomimetics Robotic Swarm Control framework that implements communication constraints into swarm behavior. These constraints are necessary to successfully implement theoretical applications in the real world. We describe the basic background of swarm robotics, the Physiocomimetics framework and methods that have attempted to implement communications constraints into robotic swarms. The Framework is changed by the inclusion of different virtual...
Show moreThis thesis describes a change to the Physiocomimetics Robotic Swarm Control framework that implements communication constraints into swarm behavior. These constraints are necessary to successfully implement theoretical applications in the real world. We describe the basic background of swarm robotics, the Physiocomimetics framework and methods that have attempted to implement communications constraints into robotic swarms. The Framework is changed by the inclusion of different virtual particles at a global and local scale that only cause a force on swarm elements if those elements are disconnected from a swarm network. The global particles introduced are a point of known connectivity and a global centroid of the swarm. The local particles introduced are the point of last connectivity and a local centroid. These particles are tested in various simulations and the results are discussed. The global particles are very effective at insuring the communication constraints of the swarm, but the local particles only have partial success. Additionally, some observations are made about swarm formations and the effect of the communication range used during swarm formation.
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Date Issued
2011
Identifier
CFH0003812, ucf:44747
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFH0003812