DEVELOPMENT OF A PHEROMONE-BASED AGGREGATION METHOD FOR SWARM ROBOTS

Date

2023-9-07

Author

Botasun, Atakan

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In this thesis, a virtual pheromone driver is developed to facilitate the exchange of stigmergic information among swarm robotics platforms. The driver incorporates localization data and communication capabilities. This technology enhances an existing swarm robotics behavior and introduces a novel aggregation algorithm for swarm robots. The proposed algorithm, referred to as PBA, is evaluated through simulations using the Kobot platform and also prepared for real-world test compatibility with Vicon Vantage motion capture devices. The methodology focuses on enabling efficient data sharing among robots without imposing heavy local communication or processing demands. The PBA algorithm, designed in response to stigmergic cues, is compared against established algorithms like BEECLUST. The primary objective of this thesis is to demonstrate the effectiveness of the PBA algorithm. The study includes tests on PBA and related algorithms, followed by a thorough analysis of performance across various scenarios.

Subject Keywords

Swarm robotics, Stigmergy, Pheromones, Swarm communication, Swarm aggregation

URI

https://hdl.handle.net/11511/105268

Collections

Graduate School of Natural and Applied Sciences, Thesis