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Collaborative actuation in micro-robotic swarm: collective decision-making and surface-color identification
2007 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Living organisms fascinate by their ability to use available physical, chemical or optical systems for ensure their survival in environment. Social insects use chemical perception system not only for sensing, but also advanced it for communication purposes. The leaved pheromone enable ants to find the shortest distance between a food source and the colony, to coordinate insect activities or to elaborate behavioral strategies. In order to mimic this capability in robotic systems, robots have to be equipped with the sensor and actuator systems as well as possess corresponding behavioral algorithms. The presented work is inspired by the capability of social insects to communicate through physical pheromone. Instead of spreading chemical substances, robots can leave, recognize and follow a colored ink trail. The topic of this thesis is a optoelectronic sensor system, capable of reliable recognizing colored trails and colored objects. Using the developed optoelectronic solution, four behavioral algorithms (say, finding and following a colored line) are developed and tested in real-time experiments. The experiments are based on three different scenarios (say, searching for a food source). The outcome of the experiments, done in a swarm of micro-robots Jasmine, prove the chosen solution are successful.

Place, publisher, year, edition, pages
Keyword [en]
Technology, Swarm robotics, Micro-robots, Color recognition, Self-organization, collective actions, Decentralization
Keyword [sv]
URN: urn:nbn:se:ltu:diva-57970ISRN: LTU-EX--07/026--SELocal ID: e945f4a3-f209-40bd-b2f1-190f214fb3bfOAI: diva2:1031358
Subject / course
Student thesis, at least 30 credits
Educational program
Electrical Engineering, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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