dc.contributor.advisor | Fierro, Rafael O. | |
dc.contributor.author | Cruz, Daniel | |
dc.date.accessioned | 2014-04-17T20:08:25Z | |
dc.date.available | 2014-04-17T20:08:25Z | |
dc.date.issued | 2006-07-01 | |
dc.identifier.uri | https://hdl.handle.net/11244/10195 | |
dc.description.abstract | This document describes an innovative cooperative robotics multi-vehicle testbed, featuring a flexible architecture that enables the system to be rapidly adapted to different applications. It also offers tools to reduce development and implementation time. The testbed consists of ten non-holonomic car-like robots networked together to share sensor information. Each vehicle features an on-board computer for local control, and a network of devices that can be suited with a variety of hot-swappable sensors depending on the application. The entire system is integrated with Player, an open source sensor server compatible with Gazebo, a 3D world simulator. Control algorithms can be evaluated in simulation mode and then ported to the real vehicle with virtually no code change. We present a flexible and complete system that serves the study of Cooperative Control, Hybrid and Embedded Systems, Sensor Networks, Networked Control and that can be used in an extensive range of applications. | |
dc.format | application/pdf | |
dc.language | en_US | |
dc.publisher | Oklahoma State University | |
dc.rights | Copyright is held by the author who has granted the Oklahoma State University Library the non-exclusive right to share this material in its institutional repository. Contact Digital Library Services at lib-dls@okstate.edu or 405-744-9161 for the permission policy on the use, reproduction or distribution of this material. | |
dc.title | Experimental Testbed for Swarming and Cooperative Robotic Networks | |
dc.type | text | |
dc.contributor.committeeMember | Yen, Gary | |
dc.contributor.committeeMember | Sohoni, Sohum | |
osu.filename | Cruz_okstate_0664M_1934.pdf | |
osu.college | Engineering, Architecture, and Technology | |
osu.accesstype | Open Access | |
dc.description.department | School of Electrical & Computer Engineering | |
dc.type.genre | Thesis | |
dc.subject.keywords | robotics | |
dc.subject.keywords | sensor networks | |
dc.subject.keywords | cooperative control | |
dc.subject.keywords | swarming | |
dc.subject.keywords | flocking | |