DEVELOPMENT OF AN EXTENSIBLE HETEROGENEOUS SWARM ROBOT PLATFORM

Download

Cem_Bilaloglu_Thesis.pdf

Date

2022-1-13

Author

Bilaloğlu, Cem

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

673
views

697
downloads

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

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

DEVELOPMENT OF A SOCIAL REINFORCEMENT LEARNING BASED AGGREGATION METHOD WITH A MOBILE ROBOT SWARM Gür, Emre; Turgut, Ali Emre; Şahin, Erol; Department of Mechanical Engineering (2022-9-09) In this thesis, the development of a social, reinforcement learning-based aggregation method is covered together with the development of a mobile robot swarm of Kobot- Tracked (Kobot-T) robots. The proposed method is developed to improve efficiency in low robot density swarm environments especially when the aggregated area is difficult to find. The method is called Social Reinforcement Learning, and Landmark-Based Aggregation (SRLA) and it is based on Q learning. In this method, robots share their Q tables ...
Improving the accuracy of a mobile robot for localization and mapping of an unknown environment Gümrükcü, Gülşah; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2003) This thesis deals with sensor based motion planning of a mobile robot for localization in an unknown environment. Using the developed algorithm the robot may construct the map (GVG) of any bounded environment, and the minimum distance between any two locations in the mapped environment can be determined. In addition, the accuracy of the robot, facing dead-reckoning error can be improved. With this study, the mobile robot finds the optimum path between any two locations in any bounded environment and traces ...
Design of a low-costs warm robotic system for flocking Demir, Çağrı Ata; Turgut, Ali Emre; Department of Mechanical Engineering (2019) Swarm robotics is an approach to the coordination of large numbers of robots. The main motivation of this thesis is to study a robotic system designed to do flocking both indoors and outdoors. A walking robot is designed parallel to this purpose. In the first part of thesis, a leg is designed to minimize the displacement of center of mass of robot in vertical axis to eliminate mechanical noise. Mechanism analysis and Matlab optimization tools are utilized in this process. Then, electronic components of robo...
Development of a visual object localization module for mobile robots Şahin, Erol (1999-01-01) Reports preliminary results from the design and implementation of a visual object localization module for mobile robots. The module takes an object-based approach to visual processing and relies on a preprocessing step that segments objects from the image. By tracking the size and the eccentricity of the objects in the image while the robot is moving, the visual object localization module can determine the position of objects relative to the robot using the displacement obtained from its odometry. In locali...
The learning and use of traversability affordance using range images on a mobile robot Ugur, Emre; Dogar, Mehmet R.; Cakmak, Maya; Şahin, Erol (2007-04-14) We are interested in how the concept of affordances can affect our view to autonomous robot control, and how the results obtained from autonomous robotics can be reflected back upon the discussion and studies on the concept of affordances. In this paper, we studied how a mobile robot, equipped with a 3D laser scanner, can learn to perceive the traversability affordance and use it to wander in a room filled with spheres, cylinders and boxes. The results showed that after learning, the robot can wander around...

Citation Formats

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