{"id":103114,"date":"2018-03-11T10:25:31","date_gmt":"2018-03-11T10:25:31","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/collective-movement-in-robotic-swarms\/"},"modified":"2018-03-11T10:25:31","modified_gmt":"2018-03-11T10:25:31","slug":"collective-movement-in-robotic-swarms","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/robotica\/collective-movement-in-robotic-swarms\/","title":{"rendered":"Collective movement in robotic swarms"},"content":{"rendered":"<h2>Tesis doctoral de <strong> I\u00f1aki Navarro Oiza <\/strong><\/h2>\n<p>En esta tesis se presenta y analiza un nuevo marco para el control del movimiento colectivo de robots m\u00f3viles. Este marco permite que un grupo de robots se mueva como una \u00fanica entidad, con las siguientes capacidades: evitaci\u00f3n de obst\u00e1culos a nivel de grupo, control de velocidad, posibilidad de cambio de la distancia entre robots, divisi\u00f3n en subgrupos de robots y unificaci\u00f3n de grupos en uno de mayor tama\u00f1o. El controlador principal se encuentra distribuido entre los robots, permiti\u00e9ndoles moverse en una direcci\u00f3n determinada com\u00fan y mantener una cierta distancia entre robots.  el marco est\u00e1 compuesto por diferentes m\u00f3dulos que modifican el comportamiento del grupo mediante distintas funciones. La mayor\u00eda de ellas se basan en algoritmos de consenso que permiten que los robots acuerden los valores de distintos par\u00e1metros, teniendo en cuenta qu\u00e9 robots aportan la informaci\u00f3n m\u00e1s relevante. Las capacidades del marco pueden ampliarse f\u00e1cilmente mediante el dise\u00f1o y la incorporaci\u00f3n de nuevos m\u00f3dulos. El marco puede implementarse y utilizarse de forma sencilla en cualquier tipo de robot m\u00f3vil capaz de medir las posiciones relativas de sus robots vecinos y de comunicarse con ellos. Ha sido probado con \u00e9xito con 8 robots reales y en simulaci\u00f3n con hasta 40 robots, demostrando  experimentalmente unas buenas propiedades de escalabilidad.  el marco requiere que los robots tengan una referencia com\u00fan de orientaci\u00f3n, la cual se calcula mediante un nuevo m\u00e9todo de consenso distribuido que se ha desarrollado. Este algoritmo de consenso \u00fanicamente necesita que los robots detecten las posiciones relativas de los robots pr\u00f3ximos y que los robots puedan comunicarse entre s\u00ed. Se han realizado experimentos sistem\u00e1ticos tanto en simulaci\u00f3n como con robots reales para validar el m\u00e9todo. La  convergencia no ha sido probada matem\u00e1ticamente, pero los resultados experimentales invitan a confiar en el uso del algoritmo. Se han obtenido buenos resultados de escalabilidad en simulaci\u00f3n con hasta 49 robots. Los experimentos con robots reales muestran que el m\u00e9todo propuesto funciona bien en la realidad. Con el objetivo de analizar y evaluar el funcionamiento y comportamiento del marco, se definen y comentan brevemente una serie de m\u00e9tricas para el movimiento colectivo de robots. Algunas de ellas son \u00fatiles solamente para caracterizar los algoritmos mientras que otras pueden utilizarse para comparar diferentes algoritmos.  a novel framework for the control of collective movement of mobile robots is presented and analysed. It allows a group of robots to move as a unique entity performing the following functions: obstacle avoidance at group level, speed control, change of the inter-robot distance, splitting in sub-groups and rejoining groups into a larger one. Its basic controller is distributed among the robots, allowing them to move in the desired common direction and maintain a desired inter-robot distance.  the framework is composed of different modules that modify the behavior of the group allowing different functions. Most are based on consensus algorithms that allow the robots to agree on different parameters, that consider which robot has more relevant information. New modules can be easily designed and incorporated to the framework in order to augment its capabilities. It can be easily implemented on any mobile robot capable of measuring the relative positions of neighboring robots and communicating with them. It has been successfully tested using 8 real robots and in simulation with up to 40 robots, demonstrating  experimentally the scalability with an increasing number of robots.  the framework needs that robots have a common orientation reference, which is calculated using a new developed distributed consensus method. This consensus algorithm only needs that robots detect the relative positions of neighbors and communicate with them. Systematic experiments were carried out in simulation and with real robots in order to test the method. Convergence has not been proved mathematically, but experimental results allows to trust on the use of the algorithm. Scalability with an increasing number of robots was tested successfully in simulation with up to 49 robots. Experiments with real robots succeeded proving that the proposed method works in reality.  in order to analyze the performance of the framework, a set of metrics for collective movement is defined and and briefly discussed. Some of the metrics are useful just to characterize the algorithms while others can be used to compare their performance.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Collective movement in robotic swarms<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Collective movement in robotic swarms <\/li>\n<li><strong>Autor:<\/strong>\u00a0 I\u00f1aki Navarro Oiza <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 19\/07\/2010<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Agustin Jimenez Avello<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: ramon Galan lopez <\/li>\n<li>Jes\u00fas Manuel De la cruz Garc\u00eda (vocal)<\/li>\n<li>elio Tuci (vocal)<\/li>\n<li>Miguel \u00e1ngel Salichs s\u00e1nchez-caballero (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de I\u00f1aki Navarro Oiza En esta tesis se presenta y analiza un nuevo marco para el control del 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