Seminar: Formation Controlled Collective Surveying by a Swarm of Autonomous Robots

Nicholi Shiell
M.Sc. Thesis Proposal
Supervisor: Dr. Andrew Vardy

Formation Controlled Collective Surveying by a Swarm of Autonomous Robots

Department of Computer Science
Thursday, January 28, 2016, 2:00 p.m., Room EN 2022


The aim of a swarm robotic controller is to produce a global behaviour among the autonomous robots of the swarm through decentralized control, and local interactions. The proposed work is interested in the development of a controller able to produce a collective swath survey global behaviour. Collective swath surveying is a method for the efficient imaging of an area which is larger than the field of view of a single robot’s sensors. A behaviour-based approach will be adopted in the design of such a controller. The intended global behaviour will be decomposed into a number of behavioural primitives one of which, formation control, will be of particular interest to the proposed work. To solve the behaviour coordination problem, a control architecture based on the Null-Space-based controller will be developed. In addition to the development of the controller, a novel bearing-only formation control behaviour will also be developed. The controller and formation control method developed here will be compared to existing techniques found in the literature through simulation and real world trials.



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