Collective transportation of objects by a swarm of robots
| dc.contributor.author | Torabi, Sina | |
| dc.contributor.department | Chalmers tekniska högskola / Institutionen för tillämpad mekanik | sv |
| dc.contributor.department | Chalmers University of Technology / Department of Applied Mechanics | en |
| dc.date.accessioned | 2019-07-03T13:49:08Z | |
| dc.date.available | 2019-07-03T13:49:08Z | |
| dc.date.issued | 2015 | |
| dc.description.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. | |
| dc.identifier.uri | https://hdl.handle.net/20.500.12380/223654 | |
| dc.language.iso | eng | |
| dc.relation.ispartofseries | Diploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden : 2015:47 | |
| dc.setspec.uppsok | Technology | |
| dc.subject | Annan teknik | |
| dc.subject | Other Engineering and Technologies | |
| dc.title | Collective transportation of objects by a swarm of robots | |
| dc.type.degree | Examensarbete för masterexamen | sv |
| dc.type.degree | Master Thesis | en |
| dc.type.uppsok | H | |
| local.programme | Complex adaptive systems (MPCAS), MSc |
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