{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/123054"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/123054","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Algorithms for planning and executing multi-roboat shapeshifting","abstract":"With autonomous vehicle development increasing, urban planners and designers are examining the impacts they will have on our everyday lives. As our technology becomes more powerful, roboticists are expanding their scope from roads and highways to canals and other waterways in order to develop Autonomous Surface Vehicles (ASVs). These ASVs can drastically change the way we move and live within a city. In addition to transportation, ASVs can be used as a new type of infrastructure that allows for smarter waste collection and also the creation of on demand dynamic infrastructure such as platforms and bridges by allowing them to create rigid connections between each other. This thesis presents algorithms for creating this infrastructure by proposing methods for planning and executing multi-Roboat shapeshifting sequences. Shapeshifting allows for a group of ASVs to autonomously self-reconfigure and is absolutely critical in order to realize the proposed use cases. The presented algorithms were developed for use on a fleet of heterogeneous robots, introducing novel research questions in the field of self-reconfiguring robots.","abstract_html":"With autonomous vehicle development increasing, urban planners and designers are examining the impacts they will have on our everyday lives. As our technology becomes more powerful, roboticists are expanding their scope from roads and highways to canals and other waterways in order to develop Autonomous Surface Vehicles (ASVs). These ASVs can drastically change the way we move and live within a city. In addition to transportation, ASVs can be used as a new type of infrastructure that allows for smarter waste collection and also the creation of on demand dynamic infrastructure such as platforms and bridges by allowing them to create rigid connections between each other. This thesis presents algorithms for creating this infrastructure by proposing methods for planning and executing multi-Roboat shapeshifting sequences. Shapeshifting allows for a group of ASVs to autonomously self-reconfigure and is absolutely critical in order to realize the proposed use cases. The presented algorithms were developed for use on a fleet of heterogeneous robots, introducing novel research questions in the field of self-reconfiguring robots.","abstract_has_math":false,"creators":["Kelly, Ryan Henderson."],"institution":"Massachusetts Institute of Technology","degree_name":"Master","degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science","school":null,"contributors":[],"advisors":["Daniela Rus."],"committee_chairs":[],"committee_members":[],"year":2019,"date_issued":"2019","date_published":"2019","updated_at":"2026-07-22T22:20:52Z","subjects":["Electrical Engineering and Computer Science."],"languages":["eng"],"rights":["MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/1721.1/123054","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Daniela Rus."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science","EECS"]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science."]},{"key":"dc:creator","label":"Author","values":["Kelly, Ryan Henderson."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2019-11-22T00:04:30Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2019-11-22T00:04:30Z"]},{"key":"dc:date.issued","label":"Date","values":["2019"]},{"key":"dc:publisher","label":"Institution","values":["Massachusetts Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Electrical Engineering and Computer Science."]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission."]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://dspace.mit.edu/handle/1721.1/7582"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/1721.1/123054"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.","Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019","Cataloged from student-submitted PDF version of thesis.","Includes bibliographical references (pages 59-61)."]},{"key":"dc:description.abstract","label":"Abstract","values":["With autonomous vehicle development increasing, urban planners and designers are examining the impacts they will have on our everyday lives. As our technology becomes more powerful, roboticists are expanding their scope from roads and highways to canals and other waterways in order to develop Autonomous Surface Vehicles (ASVs). These ASVs can drastically change the way we move and live within a city. In addition to transportation, ASVs can be used as a new type of infrastructure that allows for smarter waste collection and also the creation of on demand dynamic infrastructure such as platforms and bridges by allowing them to create rigid connections between each other. This thesis presents algorithms for creating this infrastructure by proposing methods for planning and executing multi-Roboat shapeshifting sequences. Shapeshifting allows for a group of ASVs to autonomously self-reconfigure and is absolutely critical in order to realize the proposed use cases. The presented algorithms were developed for use on a fleet of heterogeneous robots, introducing novel research questions in the field of self-reconfiguring robots."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["M. Eng."]},{"key":"dc:title","label":"Title","values":["Algorithms for planning and executing multi-roboat shapeshifting"]}]}],"canonical_facts":{"dc:contributor.advisor":["Daniela Rus."],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science","EECS"],"dc:contributor.other":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science."],"dc:creator":["Kelly, Ryan Henderson."],"dc:date.accessioned":["2019-11-22T00:04:30Z"],"dc:date.available":["2019-11-22T00:04:30Z"],"dc:date.issued":["2019"],"dc:description":["This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.","Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019","Cataloged from student-submitted PDF version of thesis.","Includes bibliographical references (pages 59-61)."],"dc:description.abstract":["With autonomous vehicle development increasing, urban planners and designers are examining the impacts they will have on our everyday lives. As our technology becomes more powerful, roboticists are expanding their scope from roads and highways to canals and other waterways in order to develop Autonomous Surface Vehicles (ASVs). These ASVs can drastically change the way we move and live within a city. In addition to transportation, ASVs can be used as a new type of infrastructure that allows for smarter waste collection and also the creation of on demand dynamic infrastructure such as platforms and bridges by allowing them to create rigid connections between each other. This thesis presents algorithms for creating this infrastructure by proposing methods for planning and executing multi-Roboat shapeshifting sequences. Shapeshifting allows for a group of ASVs to autonomously self-reconfigure and is absolutely critical in order to realize the proposed use cases. The presented algorithms were developed for use on a fleet of heterogeneous robots, introducing novel research questions in the field of self-reconfiguring robots."],"dc:description.degree":["M. Eng."],"dc:identifier.uri":["https://hdl.handle.net/1721.1/123054"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission."],"dc:rights.uri":["http://dspace.mit.edu/handle/1721.1/7582"],"dc:subject":["Electrical Engineering and Computer Science."],"dc:title":["Algorithms for planning and executing multi-roboat shapeshifting"],"dc:type":["Thesis"],"thesis:degree_name":["Master"]},"updated_at":"2026-07-22T22:20:52Z"}