DEVELOPMENT OF AN EXTENSIBLE HETEROGENEOUS SWARM ROBOT PLATFORM

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Cem_Bilaloglu_Thesis.pdf

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2022-1-13

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Bilaloğlu, Cem

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This thesis introduces Kobot -- an extensible heterogeneous swarm robot platform. Kobot platform uses a common hardware and software architecture based on off-the-shelf components, 3-D printing, and open-source software that evolves with state of the art. Robots built using this common architecture range from wheeled to flying robots and formed a heterogeneous swarm. The common architecture enabled developing and testing systems for the lightweight flying robots on resourceful ground robots. As a result, Kobot platform proved its significance for the future of swarm robotics research with multiple novel swarm behaviors implemented for the first time in real robots.

Subject Keywords

Swarm Robotics, Multi Robot Systems, Robot Perception, Decentralized Control

URI

https://hdl.handle.net/11511/96079

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

C. Bilaloğlu, “DEVELOPMENT OF AN EXTENSIBLE HETEROGENEOUS SWARM ROBOT PLATFORM,” M.S. - Master of Science, Middle East Technical University, 2022.