In this thesis, we consider a team of robots forming a mobile robot network cooperating to accomplish a mission in an unknown but structured environment. The team has no a-priori knowledge of the environment. Robots have limited memory storage capabilities, not enough to map the environment. Each robot also has limited sensor capability and computational power. Due to the need to avoid obstacles and other environment effects, some robots get delayed from the rest. Using tracking controller, the robot team should follow the leader in a flexible formation shape without losing network connectivity, and that was achieved by monitoring the end-to-end throughput level.
","abstract_html":"<p>In this thesis, we consider a team of robots forming a mobile robot network cooperating to accomplish a mission in an unknown but structured environment. The team has no a-priori knowledge of the environment. Robots have limited memory storage capabilities, not enough to map the environment. Each robot also has limited sensor capability and computational power. Due to the need to avoid obstacles and other environment effects, some robots get delayed from the rest. Using tracking controller, the robot team should follow the leader in a flexible formation shape without losing network connectivity, and that was achieved by monitoring the end-to-end throughput level.</p>","abstract_has_math":false,"creators":["BenHalim, FatmaZahra Ahmed"],"institution":null,"degree_name":"M.S.","degree_level":"Masters Thesis","degree_discipline":null,"degree_department":null,"school":null,"contributors":["Kimon Valavanis, Ph.D.","Gareth R. Eaton, Ph.D.","Matthew Rutherford","Jun Zhang","Robert Whitman"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-01-01T08:00:00Z","date_published":"2013-01-01T08:00:00Z","updated_at":"2026-07-24T02:02:38Z","subjects":["Probabilistic road map","Robot formation control","Throughput","Computer Engineering","Engineering","Robotics"],"languages":["en"],"rights":["Copyright is held by the author. User is responsible for all copyright compliance.
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"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Robot Team Formation Control Using Communication \"Throughput Approach\""]}]}],"canonical_facts":{"dc:contributor":["Kimon Valavanis, Ph.D.","Gareth R. Eaton, Ph.D.","Matthew Rutherford","Jun Zhang","Robert Whitman"],"dc:creator":["BenHalim, FatmaZahra Ahmed"],"dc:date.available":["2001-01-01T08:00:00Z"],"dc:description.abstract":["In this thesis, we consider a team of robots forming a mobile robot network cooperating to accomplish a mission in an unknown but structured environment. The team has no a-priori knowledge of the environment. Robots have limited memory storage capabilities, not enough to map the environment. Each robot also has limited sensor capability and computational power. Due to the need to avoid obstacles and other environment effects, some robots get delayed from the rest. Using tracking controller, the robot team should follow the leader in a flexible formation shape without losing network connectivity, and that was achieved by monitoring the end-to-end throughput level.
"],"dc:format":["application/pdf"],"dc:identifier":["https://digitalcommons.du.edu/etd/762"],"dc:language":["en"],"dc:rights":["Copyright is held by the author. User is responsible for all copyright compliance.
"],"dc:subject":["Probabilistic road map","Robot formation control","Throughput","Computer Engineering","Engineering","Robotics"],"dc:title":["Robot Team Formation Control Using Communication \"Throughput Approach\""],"thesis:degree_level":["Masters Thesis"],"thesis:degree_name":["M.S."]},"updated_at":"2026-07-24T02:02:38Z"}