Bachelor’s Thesis: Distributed, scalable algorithmic methods for swarms with multiple leader robots

Maximilian Ernestus and Dominik Krupke

Bachelor Thesis Cover
Thesis (PDF, 21.7MiB, 108P)

Abstract: In this bachelor thesis, we examine a scalable and distributed method to control and maintain large swarms of robots. In an attempt to find a balance between local and global swarm manipulation strategies, independent, externally controlled leader robots are used to influence the shape and movement of a swarm. Particular focus is put on the distributed management of swarm connectivity in the face of multiple simultaneous robot failures. Steiner-tree approximations are formed between the leader robots to pursue the antagonistic goals of control and connectivity. A simulator is developed to allow for simulated experiments to verify the feasibility of the proposed methods and an intuitive understanding of the swarm algorithms by its extensive visual analysis capabilities.

Follow-up paper

See also