Maximilian Ernestus and Dominik Krupke
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.
- Maximilian Ernestus, Sándor P Fekete, Michael Hemmer, and Dominik Krupke. Continuous Geometric Algorithms for Robot Swarms with Multiple Leaders. In European Workshop on Computational Geometry (EuroCG 2015), 2015.
- Dominik Krupke, Maximilian Ernestus, Michael Hemmer, and Sándor P Fekete. Distributed cohesive control for robot swarms: Maintaining good connectivity in the presence of exterior forces. In Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, pages 413--420. IEEE, 2015.