Date of Award:
12-2008
Document Type:
Thesis
Degree Name:
Master of Science (MS)
Department:
Electrical and Computer Engineering
Committee Chair(s)
YangQuan Chen
Committee
YangQuan Chen
Committee
Wei Ren
Committee
Reyhan Baktur
Abstract
This thesis introduces a design combining an emerging area in robotics with a well established mathematical research topic: swarm intelligence and Voronoi tessellations, respectively. The main objective for this research is to design an economical and robust swarm system to achieve distributed control. This research combines swarm intelligence with Voronoi tessellations to localize a source and create formations. Extensive software coding must be implemented for this design, such as the development of a discrete centroidal Voronoi tessellation (CVT) algorithm.
The ultimate purpose of this research is to advance the existing Mobile Actuator and Sensor Network (MASnet) platform to eventually develop a cooperative robot team that can sense, predict, and finally neutralize a diffusion process. Previous work on the MASnet platform has served as a foundation for this research. While growing closer to the MASnet goal, results also provide stimulating discoveries for mathematical and swarm research areas.
Checksum
a463ba12824803e7a37e678e9a03a5d5
Recommended Citation
Rounds, Shelley, "Distributed Control for Robotic Swarms Using Centroidal Voronoi Tessellations" (2008). All Graduate Theses and Dissertations, Spring 1920 to Summer 2023. 218.
https://digitalcommons.usu.edu/etd/218
Included in
Copyright for this work is retained by the student. If you have any questions regarding the inclusion of this work in the Digital Commons, please email us at .