Hardware Platform for a Multi-Robot System: Research and implementation of a multi-robot system with a cooperative behavioral control system
A small demonstration lab with a multi-robot system is being developed at ITK.
This thesis considers the development and implementation of a hardware and software
platform for this multi-robot system. An overview of the project and system
is presented, followed by a walk-through of the hardware components required and
used in this system. A brief overview of the software system is presented. The
problems within, requirements of and solutions to obstacle detection methods is
presented, followed by a conference paper, written by the author of this thesis, introducing
the Inverted Particle Filter, which is an obstacle detection and mapping
method developed for resource constrained systems. Previous work on positioning
systems is presented and the positioning system for this multi-robot system is
proposed. The overall project and system is discussed and evaluated.
Place, publisher, year, edition, pages
Institutt for teknisk kybernetikk , 2013. , 114 p.
IdentifiersURN: urn:nbn:no:ntnu:diva-22883Local ID: ntnudaim:8846OAI: oai:DiVA.org:ntnu-22883DiVA: diva2:654864
Skavhaug, Amund, Førsteamanuensis