Abstract

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 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.

Notes

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Thesis Completion

2011

Semester

Spring

Advisor

Wiegand, R. Paul

Degree

Bachelor of Science in Computer Engineering (B.S.P.E.)

College

College of Engineering and Computer Science

Degree Program

Computer Engineering

Subjects

Dissertations, Academic -- Engineering and Computer Science;Engineering and Computer Science -- Dissertations, Academic

Format

PDF

Identifier

CFH0003812

Language

English

Access Status

Open Access

Length of Campus-only Access

None

Document Type

Honors in the Major Thesis

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