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.
Electrical and Systems Engineering Undergraduate Research
Date of Submission
Cheng, Zhun, "Improved Distributed Coordination of Multi-robot Systems in Unknown Environments" (2023). Electrical and Systems Engineering Undergraduate Research. 7.