Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
DEVELOPMENT OF A SOCIAL REINFORCEMENT LEARNING BASED AGGREGATION METHOD WITH A MOBILE ROBOT SWARM
Download
Emre_Gur_Thesis_2022_revising-13.pdf
Date
2022-9-09
Author
Gür, Emre
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
176
views
167
downloads
Cite This
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 inside the aggregated area. The developed robot swarm uses mostly off-the-shelf, open source, additive manufactured components and is extendable, and easily maintainable by design. Kobot-T is intended to be used together with a three-part heterogeneous swarm system capable of accomplishing tasks from foraging to aggregation for long hours. To prove and report the success of SRLA several aggregation methods from the literature are tested and the result of the comparison is given
Subject Keywords
Swarm robotics
,
Multi-robot systems
,
Swarm communication
URI
https://hdl.handle.net/11511/99647
Collections
Graduate School of Natural and Applied Sciences, Thesis
Suggestions
OpenMETU
Core
DEVELOPMENT OF AN EXTENSIBLE HETEROGENEOUS SWARM ROBOT PLATFORM
Bilaloğlu, Cem; Turgut, Ali Emre; Şahin, Erol; Department of Mechanical Engineering (2022-1-13)
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, Ko...
Evolving aggregation behaviors in a swarm of robots
Trianni, V; Gross, R; Labella, TH; Şahin, Erol; Dorigo, M (2003-01-01)
In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and self-assemble to form a robotic system, called a swarm-bot. The aggregation process, observed in many biological systems, is of fundamental importance since it is the prerequisite for other forms of cooperation that involve self-organization and self-assembling. We consider the problem of defining the control system for the swarm-bot using artificial evolution. The results obtained in a...
A self-organized collective foraging method using a robot swarm
Karagüzel, Tugay Alperen; Turgut, Ali Emre; Department of Mechanical Engineering (2020)
In this thesis, a collective foraging method for a swarm of aerial robots is investigated. The method is constructed by using algorithms that are designed to work in a distributed manner, by using only local information. No member in the swarm has access to global information about positions, states or environment. The environment, that robots are planned to operate in, contains a virtual scalar field which consists of grids containing constant values. The grid values indicate desired regions of the environ...
Design of a Micro Piezo Actuated Gripper for a Swarm Robotic System
Kaygusuz, Batuhan; Turgut, Ali Emre (2016-07-31)
In this paper, we introduced a novel micro swarm robotic platform, called the AttaBot, designed specifically for complex systems and swarm robotics research. The novelty of the AttaBot platform is two-folds. (1) Artificial pheromones are implemented, (2) Each AttaBot has a gripper to grip small discs on the ground. In this way, AttaBot platform can be used in many different swarm scenarios including foraging, collective motion and collective transport. We introduced the design of the AttaBot, focusing mainl...
Self-organized flocking with a mobile robot swarm
Turgut, Ali Emre; Gökçe, Fatih; Şahin, Erol ( International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS); 2008-01-01)
This paper studies self-organized flocking in a swarm of mo- bile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies, briefly de- scribing its sensing and communication abilities. In particular, we describe a scalable method that allows the robots to sense the orientations of their neighbors using a digital compass and wireless communication. Then we propose a behavior for a swarm of robots that creates self-organized flocking by using heading alignment and pr...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
E. Gür, “DEVELOPMENT OF A SOCIAL REINFORCEMENT LEARNING BASED AGGREGATION METHOD WITH A MOBILE ROBOT SWARM,” M.S. - Master of Science, Middle East Technical University, 2022.
