{"id":{"repo_id":"buffalo","oai_identifier":"oai:ubir.buffalo.edu:10477/86490"},"canonical_url":"https://search.dev.ndltd.org/etd/buffalo/oai:ubir.buffalo.edu:10477/86490","repository":{"repo_id":"buffalo","name":"Buffalo","base_url":"https://ubir.buffalo.edu/oai/request"},"display":{"title":"Implementation of a Connectivity Service for UAV Swarms with a Distributed Algorithm","abstract":"M.S.","abstract_html":"M.S.","abstract_has_math":false,"creators":["Shi, Mingkun"],"institution":"State University of New York at Buffalo","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":["Mastronarde, Nicholas","Electrical Engineering"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-02-21T17:22:56Z","date_published":"2025-02-21T17:22:56Z","updated_at":"2026-07-27T19:05:32Z","subjects":["electrical engineering"],"languages":["eng"],"rights":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/10477/86490","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Mastronarde, Nicholas","Electrical Engineering"]},{"key":"dc:creator","label":"Author","values":["Shi, Mingkun"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2025-02-21T17:22:56Z","2020"]},{"key":"dc:publisher","label":"Institution","values":["State University of New York at Buffalo"]},{"key":"dc:type","label":"Dc Type","values":["Text","Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["electrical engineering"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/10477/86490"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["M.S.","This thesis focuses on implementing a connectivity service for UAV swarms with a distributed algorithm. The aim is to solve the connectivity problem and implement this connectivity service in the real world. Many algorithms for different UAV swarm applications assume connectivity is ensured or ignore connectivity requirements making them difficult to implement in the real world. In this work, we implement a distributed algorithm originally proposed by Cornejo et al. to solve the connectivity problem. The distributed algorithm only queries each agent's start position and goal position, and it uses 1-hop broadcast to communicate with neighbor agents. Each computation round keeps agents connected and requires agent's local information without any network routing infrastructure. We implement the connectivity service in both MATLAB and C++. MATLAB is used to easily test the algorithm and visualize the resulting flight paths of the UAVs, while the C++ implementation can eventually be ported to control actual UAVs. We compare the results in these two different simulation environments and use MATLAB to visualize the results.","**To request an accessible version of the file(s) associated with this item, contact library@buffalo.edu. Please include the item's persistent URL [http://hdl.handle.net/. . .] in your request.**"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Implementation of a Connectivity Service for UAV Swarms with a Distributed Algorithm"]}]}],"canonical_facts":{"dc:contributor":["Mastronarde, Nicholas","Electrical Engineering"],"dc:creator":["Shi, Mingkun"],"dc:date":["2025-02-21T17:22:56Z","2020"],"dc:description":["M.S.","This thesis focuses on implementing a connectivity service for UAV swarms with a distributed algorithm. The aim is to solve the connectivity problem and implement this connectivity service in the real world. Many algorithms for different UAV swarm applications assume connectivity is ensured or ignore connectivity requirements making them difficult to implement in the real world. In this work, we implement a distributed algorithm originally proposed by Cornejo et al. to solve the connectivity problem. The distributed algorithm only queries each agent's start position and goal position, and it uses 1-hop broadcast to communicate with neighbor agents. Each computation round keeps agents connected and requires agent's local information without any network routing infrastructure. We implement the connectivity service in both MATLAB and C++. MATLAB is used to easily test the algorithm and visualize the resulting flight paths of the UAVs, while the C++ implementation can eventually be ported to control actual UAVs. We compare the results in these two different simulation environments and use MATLAB to visualize the results.","**To request an accessible version of the file(s) associated with this item, contact library@buffalo.edu. Please include the item's persistent URL [http://hdl.handle.net/. . .] in your request.**"],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/10477/86490"],"dc:language":["eng"],"dc:publisher":["State University of New York at Buffalo"],"dc:rights":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."],"dc:subject":["electrical engineering"],"dc:title":["Implementation of a Connectivity Service for UAV Swarms with a Distributed Algorithm"],"dc:type":["Text","Thesis"]},"updated_at":"2026-07-27T19:05:32Z"}