Distributed Area Search with a Team of Robots
What The main goal of this thesis is to demonstrate the applicability of the distributed
systems paradigm to robotic systems. This goal is accomplished by presenting two
solutions to the Distributed Area Search problem: organizing a team of robots to
collaborate in the task of searching through an area. The first solution is designed for
unreliable robots equipped with a reliable GPS-style localization system. This solution
demonstrates the efficiency and fault-tolerance of this type of distributed robotic
systems, as well as their applicability to the real world. We present a theoretically
near-optimal algorithm for solving Distributed Area Search under this setting, and
we also present an implementation of our algorithm on an actual system, consisting
of twelve robots. The second solution is designed for a completely autonomous system,
without the aid of any centralized subsystem. It demonstrates how a distributed
robotic system can solve a problem that is practically unsolvable for a single-robot
Which master's thesis
Why Scalable distributed algorithm for collaborative mapping
Who Velin Tzanov with Jonathan Bachrach
How Java and C on Mark III Robots with Cricket Motes
When 2006
Where mit csail