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Robotic swarms can potentially perform complicated tasks such as exploration and mapping at large space and time scales in a parallel and robust fashion. This thesis presents strategies for mapping

Robotic swarms can potentially perform complicated tasks such as exploration and mapping at large space and time scales in a parallel and robust fashion. This thesis presents strategies for mapping environmental features of interest – specifically obstacles, collision-free paths, generating a metric map and estimating scalar density fields– in an unknown domain using data obtained by a swarm of resource-constrained robots. First, an approach was developed for mapping a single obstacle using a swarm of point-mass robots with both directed and random motion.

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Date Created
  • 2018
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  • Text
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    • Doctoral Dissertation Mechanical Engineering 2018

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