A Cooperative object transport system with behavior-based robots

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dc.contributor.advisorKing, Scott A.
dc.contributor.advisorCarrillo, Luis Garcia
dc.contributor.authorRamaswamy Balasubramanian, Arun Prassanth
dc.contributor.authorRamaswamy Balasubramanian, Arun Prassanth
dc.contributor.committeeMemberKatangur, Ajay
dc.contributor.committeeMemberKatangur, Ajay
dc.date.accessioned2018-08-21T21:28:25Z
dc.date.accessioned2018-08-21T21:28:25Z
dc.date.available2018-08-21T21:28:25Z
dc.date.available2018-08-21T21:28:25Z
dc.date.issued2018-08
dc.date.issued2018-082018-08
dc.description.abstractCooperative object transport is an intriguing research area in swarm and multi-agent robotic systems. Global-view is a challenge in cooperative transport where different aspects such as providing the global picture, what information to share and how to share are still being explored. One simple way of addressing global view is by using a situated agent which has an elevated view of the environment and capable of communicating it. Various works that employ this strategy often rely on a centralized or global control where the agent with the global view makes the decisions. We propose a strategy modeled after Behavior-Based Robotics principles which enables the robots to react to the environment and thereby achieve cooperation to accomplish the task. Instead of relying on a sophisticated controller or a centralized leader, the robots simply react to the stimuli in different ways by executing simple behaviors from their own repertoire. The 'Observer', a situated agent with the global view has no decision-making responsibilities and simply serves as a means of stimulus. Also, the Observer employs simple techniques to extract and share very limited information with other agents. Different experiments were performed with real robots and various metrics were collected to demonstrate and evaluate the strategy.en_US
dc.description.collegeCollege of Science and Engineeringen_US
dc.description.departmentComputing Sciencesen_US
dc.format.extent67 pagesen_US
dc.identifier.urihttp://hdl.handle.net/1969.6/31364
dc.identifier.urihttp://hdl.handle.net/1969.6/31364http://hdl.handle.net/1969.6/31364
dc.language.isoen_USen_US
dc.rightsThis material is made available for use in research, teaching, and private study, pursuant to U.S. Copyright law. The user assumes full responsibility for any use of the materials, including but not limited to, infringement of copyright and publication rights of reproduced materials. Any materials used should be fully credited with its source. All rights are reserved and retained regardless of current or future development or laws that may apply to fair use standards. Permission for publication of this material, in part or in full, must be secured with the author and/or publisher.en_US
dc.subjectBehavior-based roboticsen_US
dc.subjectbox-pushingen_US
dc.subjectcollective transporten_US
dc.subjectcooperative transporten_US
dc.subjectmulti-agent, heterogeneousen_US
dc.subjectreactive robotsen_US
dc.titleA Cooperative object transport system with behavior-based robotsen_US
dc.typeTexten_US
dc.type.genreThesisen_US
thesis.degree.disciplineComputer Scienceen_US
thesis.degree.grantorTexas A & M University--Corpus Christien_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Artsen_US

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