A general architecture for robotic swarms
PhD Thesis
Title | A general architecture for robotic swarms |
---|---|
Type | PhD Thesis |
Authors | |
Author | Brookshaw, Iain James |
Supervisor | Low, Tobias |
Institution of Origin | University of Southern Queensland |
Qualification Name | Doctor of Philosophy |
Number of Pages | 163 |
Year | 2015 |
Abstract | Swarms are large groups of simplistic individuals that collectively solve disproportionately complex tasks. Individual swarm agents are limited in perception, These features are typifed by eusocial insects such as ants and termites, who construct nests, forage and build complex societies comprised of primitive agents. This project created the basis of a general swarm architecture for the control of insect-like robots. The Swarm Architecture is inspired by threshold models This was achieved by exploiting the inherent limitations of swarm agents. Individual insects were modelled as a machine capable only of perception, locomotion and manipulation. This approximation reduced behaviour primitives The Architecture represents an advance on previous robotic swarms in its generality - swarm control software has often been tied to one task and robot configuration. The Architecture's exclusive focus on swarms, sets it apart from The Architecture was implemented successfully on both simulated and real-world swarms. |
Keywords | robotic swarms; architecture; robotics; robot cooperation; computer simulation; software; biological models |
ANZSRC Field of Research 2020 | 461206. Software architecture |
400707. Manufacturing robotics | |
Byline Affiliations | School of Mechanical and Electrical Engineering |
https://research.usq.edu.au/item/q335z/a-general-architecture-for-robotic-swarms
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