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.
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Wiegand, R. Paul
Bachelor of Science in Computer Engineering (B.S.P.E.)
College of Engineering and Computer Science
Dissertations, Academic -- Engineering and Computer Science;Engineering and Computer Science -- Dissertations, Academic
Length of Campus-only Access
Honors in the Major Thesis
Haley, Joshua J., "Integration of communication constraints into physiocomimetic swarms via placement of location based virtual particles" (2011). HIM 1990-2015. 1133.