Towards Bacteria Inspired Stochastic Control Strategies for Microrobotic Swarm Intelligence

Collective robotic behavior poses significant advantages over classical control methods such as system response and robustness. Biological cooperative communities have provided great insights for development of many control algorithms. Localized chemical signaling within bacterial communities is used for directed movement and dynamic density measurements. Both individual and population scale models have been created to adequately model community dynamics. These dynamics, including directed motion due to chemotaxis and density controlled functionality from quorum sensing, are modeled through an individual scale in a community scale environment. This modeling provides both a platform for analyzing the BacteriaBot engineered system as well as inspires decentralized stochastic control techniques for solving bacteria-like collaborative control problems.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2013

Author dc:creator

• Geuther, Brian Q.

Chair dc:contributor.committeechair

• Behkam, Bahareh

Committee members dc:contributor.committeemember

• Abaid, Nicole
• Leonessa, Alexander

• Bacteria
• Computational Modeling
• Population Scale Modeling
• Chemotaxis
• Quorum Sensing
• Decentralized Control

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

vt_gsexam:1581

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/23751