Coverage control: From heterogeneous robot teams to expressive swarms
Santos Fernandez, Maria Teresa
MetadataShow full item record
Coverage control constitutes a canonical multi-robot coordination strategy that allows a collection of robots to distribute themselves over a domain to optimally monitor the relevant features of the environment. This thesis examines two different aspects of the coverage problem. On the one hand, we investigate how coverage should be performed by a multi-robot team with heterogeneous sensor equipment in the presence of qualitatively different types of events or features in the domain, which may evolve over time. To this end, different information exchange strategies among the robots are considered, and the performance of the resulting distributed control laws is compared experimentally on a team of mobile robots. In addition, we present a constraint-based approach that allows the multi-robot team to cover different types of features whose locations in the domain may evolve other time. On the other hand, in the context of swarm robotics in the arts, this thesis investigates how the coverage paradigm, which affords the control of the entire multi-robot team through the high-level specification of density functions, can serve as an effective interaction modality for artists to effectively utilize robotic swarms in different forms of art expression. In particular, we explore the use of coverage, along with other standard multi-robot control algorithms, to create emotionally expressive behaviors for robot theatre applications. Furthermore, the heterogeneous coverage framework developed in this thesis is employed to interactively control desired concentrations of color throughout a canvas for the purpose of artistic multi-robot painting.
Showing items related by title, author, creator and subject.
Teaching robots about human environments: Leveraging human interaction to efficiently learn and use multisensory object affordances Chu, Vivian (Georgia Institute of Technology, 2018-01-09)The real world is complex, unstructured, and contains high levels of uncertainty. Although past work shows that robots can successfully operate in situations where a single skill is needed, they will need a framework that ...
Smith, Brian Stephen (Georgia Institute of Technology, 2009-03-31)We 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 ...
Kemp, Charles C. (Georgia Institute of Technology, 2014-08-12)Mobile robots with autonomous capabilities have the potential to provide 24/7 personalized care, dramatically improving the quality of life of people with motor impairments. I will first provide an overview of opportunities ...