Collective transportation of objects by a swarm of robots

Examensarbete för masterexamen

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Type: Examensarbete för masterexamen
Master Thesis
Title: Collective transportation of objects by a swarm of robots
Authors: Torabi, Sina
Abstract: A collective transport strategy, inspired by the food retrieval procedure of ant colonies, has been implemented on a swarm of robots that are smaller than the object. A simple odometry-based team coordination strategy in combination with an omni-directional camera has been implemented, resulting in a well-coordinated e ort by the robots without using any communication. The strategy is fully decentralized. Moreover, a simple recruitment process has been introduced but it did not improve the transportation efficiency. The transportation strategy consists of four stages, namely prey discovery, team coordination, recruitment, and transportation. A simulation environment capable of handling robot swarms and their physical interaction is developed for this project. Using robots weighing 3 kg, a 3 kg object was successfully transported in 48 out of 50 trials, whereas a 4.5 kg object was successfully transportedin 44 out of 50 trials.
Keywords: Annan teknik;Other Engineering and Technologies
Issue Date: 2015
Publisher: Chalmers tekniska högskola / Institutionen för tillämpad mekanik
Chalmers University of Technology / Department of Applied Mechanics
Series/Report no.: Diploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden : 2015:47
Collection:Examensarbeten för masterexamen // Master Theses

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