Collaborative Motion for Mobile Platforms

In dense cluttered environments, autonomous physical agents will face many challenges including limited routes, obstructed sensors, and limited communication. Equipping the agents with inter-agent communication alleviates some of the issues, but providing a mechanism for forming groups allows the agents to work together efficiently by avoiding congestion in tight areas and providing redundancy to accomplish a task. This thesis presents aframework for decentralized collaborative group formations and a framework for augmenting that with a more strategic centralized approach. This thesis will investigate a strategy for the formation of hierarchical ad-hoc groups that provide a simple interface for joining and splitting groups. After formation these groups will use peer to peer algorithms to share sensor data and perform distributed task allocation within the group. The groups can eitherbe controlled by a static base-station or use a decentralized framework if communication to the base-station is lost. When communication is restored, the peer to peer algorithms will be used to spread the data to as many agents as possible to avoid data loss. A radio propagation model is also presented to simulate communication in indoor and simulated environments, as well as estimated propagation for use in path planning. This framework will also allow the agent’s high level decision making to modify its role depending on group consensus.

Name thesis:degree_name

Doctor of Philosophy

Level thesis:degree_level

doctoral

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Grantor dc:publisher

The Ohio State University

Year dc:date

2013

Author dc:creator

• Biddlestone, Scott Richard

Contributors dc:contributor

• Ozguner, Umit

• Computer Engineering
• Electrical Engineering
• Robotics
• Robots

Statement dc:rights

• unrestricted
• This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.

Language dc:language

English

Repository record dc:identifier

http://rave.ohiolink.edu/etdc/view?acc_num=osu1357227236

OAI identifier oai:identifier

oai:etd.ohiolink.edu:osu1357227236