Swarm robot control algorithms intend to compute and coordinate the paths of a group of robots, known as a swarm, to perform certain tasks. To cooperate a swarm of robots, constant communication often is needed. However, when the robots are deployed to areas where communication network is unsteady, or unavailable, like underwater, underground, or remote areas. A continuation of the author’s summer research, this semester the multi robot RRT* was improved by using individual rewire processes and recalculating communication point when deemed inaccessible. This allows the planning scheme to be extended into the unknown space.

Document Type


Author's School

McKelvey School of Engineering

Author's Department

Electrical and Systems Engineering

Class Name

Electrical and Systems Engineering Undergraduate Research

Date of Submission