Cooperative Robotics with Sensorial Delay
Examensarbete för masterexamen
Complex adaptive systems (MPCAS), MSc
The purpose of this work is to study how the behavior of robots changes when the data from their sensors is affected by a delay. Robots of the model Elisa 3 are therefore studied while performing Brownian motion and with certain parameters varying as a function of the intensity measured by their sensors. Introducing a delay and varying its sign is shown to have a significant effect on a robot’s behavior. A single robot moving in an intensity field is either drawn to or avoiding higher intensities for a positive or a negative delay respectively. In this case experimental data shows good agreement with simulated behavior. Simulations also show that multiple robots should form clusters when interacting under the influence of a positive delay but the tendencies towards clustering that can be seen in the experiments are weaker. An increased detection range for the robots’ sensors is proposed as a future improvement.
Building Futures , Hållbar utveckling , Innovation och entreprenörskap (nyttiggörande) , Annan teknik , Building Futures , Sustainable Development , Innovation & Entrepreneurship , Other Engineering and Technologies