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dc.contributor.authorSmith, Brian Stephenen_US
dc.date.accessioned2009-06-08T19:32:57Z
dc.date.available2009-06-08T19:32:57Z
dc.date.issued2009-03-31en_US
dc.identifier.urihttp://hdl.handle.net/1853/28248
dc.description.abstractWe present automatic tools for configuring and deploying multi-robot networks of decentralized, mobile robots. These methods are tailored to the decentralized nature of the multi-robot network and the limited information available to each robot. We present methods for determining if user-defined network tasks are feasible or infeasible for the network, considering the limited range of its sensors. To this end, we define rigid and persistent feasibility and present necessary and sufficient conditions (along with corresponding algorithms) for determining the feasibility of arbitrary, user-defined deployments. Control laws for moving multi-robot networks in acyclic, persistent formations are defined. We also present novel Embedded Graph Grammar Systems (EGGs) for coordinating and deploying the network. These methods exploit graph representations of the network, as well as graph-based rules that dictate how robots coordinate their control. Automatic systems are defined that allow the robots to assemble arbitrary, user-defined formations without any reliance on localization. Further, this system is augmented to deploy these formations at the user-defined, global location in the environment, despite limited localization of the network. The culmination of this research is an intuitive software program with a Graphical User Interface (GUI) and a satellite image map which allows users to enter the desired locations of sensors. The automatic tools presented here automatically configure an actual multi-robot network to deploy and execute user-defined network tasks.en_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectRoboticsen_US
dc.subjectMulti-robot systemsen_US
dc.subjectMulti-robot networksen_US
dc.subjectMultiple robot systemsen_US
dc.subjectMultiple robot networksen_US
dc.subjectMobile robotsen_US
dc.subject.lcshMobile robots
dc.subject.lcshRobots Control systems
dc.subject.lcshIntelligent control systems
dc.titleAutomatic coordination and deployment of multi-robot systemsen_US
dc.typeDissertationen_US
dc.description.degreePh.D.en_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
dc.description.advisorCommittee Chair: Dr. Magnus Egerstedt; Committee Co-Chair: Dr. Ayanna Howard; Committee Member: Dr. David Taylor; Committee Member: Dr. Frank Dellaert; Committee Member: Dr. Ian Akyildiz; Committee Member: Dr. Jeff Shammaen_US


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