Coordination of Persistent Multi-Robot Formations

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dc.contributorSidman, Jessica
dc.contributorBallesteros, Lisa
dc.contributor.advisorSt. John, Audrey
dc.contributor.authorDiwan, Haya
dc.date.accessioned2021-05-25T17:34:26Z
dc.date.available2021-05-25T17:34:26Z
dc.date.gradyear2021en_US
dc.date.issued2021-05-25
dc.description.abstractIn collective transport, a search and rescue multi­-robot formation must preserve its shape in order to safely carry an object from one location to another. In this thesis we focus on persistent acyclic leader­-follower formations in which robots adhere to local pairwise distance constraints in order to maintain the formation as a whole. We rely on combinatorial rigidity and persistence theory, where robots are modeled as vertices and distance constraints as edges. In order to identify the formations that perform best, we define a property called diameter using the concept of waves. We hypothesize that diameter impacts the performance of a moving formation. By generating persistent acyclic leader­-follower formations, we design a set of experiments both on simulation and on a multi-­robot hardware platform. The results and analysis support our hypothesis that smaller diameter is related to better performance.en_US
dc.description.sponsorshipComputer Scienceen_US
dc.identifier.urihttp://hdl.handle.net/10166/6299
dc.language.isoen_USen_US
dc.rights.restrictedpublicen_US
dc.subjectMulti-robot formationsen_US
dc.titleCoordination of Persistent Multi-Robot Formationsen_US
dc.typeThesis
mhc.degreeUndergraduateen_US
mhc.institutionMount Holyoke College

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