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Swarm robotics: Cooperative navigation in unknown environments
Swarm Robotics is garnering attention in the robotics field due to its substantial benefits. It has been proven to outperform most other robotic approaches in many applications such as military, space exploration and disaster search and rescue missions. It is inspired by the behavior of swarms of so...
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AUC Knowledge Fountain
2017
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| _version_ | 1867613411786883072 |
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| access_status_str | Open Access |
| author | Khalil, Abdallah Galal |
| author_browse | Khalil, Abdallah Galal |
| author_facet | Khalil, Abdallah Galal |
| author_sort | Khalil, Abdallah Galal |
| collection | Thesis |
| dc_rights_str_mv | The author retains all rights with regard to copyright. The author certifies that written permission from the owner(s) of third-party copyrighted matter included in the thesis, dissertation, paper, or record of study has been obtained. The author further certifies that IRB approval has been obtained for this thesis, or that IRB approval is not necessary for this thesis. Insofar as this thesis, dissertation, paper, or record of study is an educational record as defined in the Family Educational Rights and Privacy Act (FERPA) (20 USC 1232g), the author has granted consent to disclosure of it to anyone who requests a copy. |
| description | Swarm Robotics is garnering attention in the robotics field due to its substantial benefits. It has been proven to outperform most other robotic approaches in many applications such as military, space exploration and disaster search and rescue missions. It is inspired by the behavior of swarms of social insects such as ants and bees. It consists of a number of robots with limited capabilities and restricted local sensing. When deployed, individual robots behave according to local sensing until the emergence of a global behavior where they, as a swarm, can accomplish missions individuals cannot. In this research, we propose a novel exploration and navigation method based on a combination of Probabilistic Finite Sate Machine (PFSM), Robotic Darwinian Particle Swarm Optimization (RDPSO) and Depth First Search (DFS). We use V-REP Simulator to test our approach. We are also implementing our own cost effective swarm robot platform, AntBOT, as a proof of concept for future experimentation. We prove that our proposed method will yield excellent navigation solution in optimal time when compared to methods using either PFSM only or RDPSO only. In fact, our method is proved to produce 40% more success rate along with an exploration speed of 1.4x other methods. After exploration, robots can navigate the environment forming a Mobile Ad-hoc Network (MANET) and using the graph of robots as network nodes. |
| format | Thesis |
| id | oai:fount.aucegypt.edu:etds-1674 |
| institution | American University in Cairo (Egypt) |
| last_indexed | 2026-06-10T12:35:43.583Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from AUC Knowledge Fountain — bepress |
| publishDate | 2017 |
| publishDateRange | 2017 |
| publishDateSort | 2017 |
| publisher | AUC Knowledge Fountain |
| publisherStr | AUC Knowledge Fountain |
| record_format | dspace |
| source_str | AUC Knowledge Fountain — bepress |
| spelling | oai:fount.aucegypt.edu:etds-1674 Swarm robotics: Cooperative navigation in unknown environments Khalil, Abdallah Galal Swarm Robotics is garnering attention in the robotics field due to its substantial benefits. It has been proven to outperform most other robotic approaches in many applications such as military, space exploration and disaster search and rescue missions. It is inspired by the behavior of swarms of social insects such as ants and bees. It consists of a number of robots with limited capabilities and restricted local sensing. When deployed, individual robots behave according to local sensing until the emergence of a global behavior where they, as a swarm, can accomplish missions individuals cannot. In this research, we propose a novel exploration and navigation method based on a combination of Probabilistic Finite Sate Machine (PFSM), Robotic Darwinian Particle Swarm Optimization (RDPSO) and Depth First Search (DFS). We use V-REP Simulator to test our approach. We are also implementing our own cost effective swarm robot platform, AntBOT, as a proof of concept for future experimentation. We prove that our proposed method will yield excellent navigation solution in optimal time when compared to methods using either PFSM only or RDPSO only. In fact, our method is proved to produce 40% more success rate along with an exploration speed of 1.4x other methods. After exploration, robots can navigate the environment forming a Mobile Ad-hoc Network (MANET) and using the graph of robots as network nodes. 2017-06-01T07:00:00Z thesis application/pdf https://fount.aucegypt.edu/etds/675 https://fount.aucegypt.edu/context/etds/article/1674/viewcontent/Swarm_20Robotics_3a_20Cooperative_20Navigation_20in_20Unknown_20Environments.pdf The author retains all rights with regard to copyright. The author certifies that written permission from the owner(s) of third-party copyrighted matter included in the thesis, dissertation, paper, or record of study has been obtained. The author further certifies that IRB approval has been obtained for this thesis, or that IRB approval is not necessary for this thesis. Insofar as this thesis, dissertation, paper, or record of study is an educational record as defined in the Family Educational Rights and Privacy Act (FERPA) (20 USC 1232g), the author has granted consent to disclosure of it to anyone who requests a copy. Theses and Dissertations AUC Knowledge Fountain Swarm Swarm Robotics |
| spellingShingle | Swarm Swarm Robotics Khalil, Abdallah Galal Swarm robotics: Cooperative navigation in unknown environments |
| title | Swarm robotics: Cooperative navigation in unknown environments |
| title_full | Swarm robotics: Cooperative navigation in unknown environments |
| title_fullStr | Swarm robotics: Cooperative navigation in unknown environments |
| title_full_unstemmed | Swarm robotics: Cooperative navigation in unknown environments |
| title_short | Swarm robotics: Cooperative navigation in unknown environments |
| title_sort | swarm robotics cooperative navigation in unknown environments |
| topic | Swarm Swarm Robotics |
| url | https://fount.aucegypt.edu/etds/675 https://fount.aucegypt.edu/context/etds/article/1674/viewcontent/Swarm_20Robotics_3a_20Cooperative_20Navigation_20in_20Unknown_20Environments.pdf |
| work_keys_str_mv | AT khalilabdallahgalal swarmroboticscooperativenavigationinunknownenvironments |