Path Planning of Mobile Agents using AI Technique

Roy, Sayan and Sahoo, Soumya Ranjan (2007) Path Planning of Mobile Agents using AI Technique. BTech thesis.

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Abstract

In this paper, we study coordinated motion in a swarm robotic system, called a swarm-bot. A swarm-bot is a self-assembling and self-organizing. Artifact composed of a swarm of s-bots, mobile robots with the ability to connect to and is connect from each other. The swarm-bot concept is particularly suited for tasks that require all-terrain navigation abilities, such as space exploration or rescue in collapsed buildings. As a first step toward the development of more complex control strategies, we investigate the case in which a swarm-bot has to explore an arena while avoiding falling into holes.
In such a scenario, individual s-bots have sensory–motor limitations that prevent them navigating efficiently. These limitations can be overcome if the s-bots are made to cooperate. In particular, we exploit the s-bots’ ability to physically connect to each other. In order to synthesize the s-bots’ controller, we rely on artificial evolution, which we show to be a powerful tool for the production of simple and effective solutions to the hole avoidance task.

Item Type:	Thesis (BTech)
Uncontrolled Keywords:	Swarm Robotic System, AI Technique
Subjects:	Engineering and Technology > Electronics and Communication Engineering > Sensor Networks Engineering and Technology > Industrial Engineering Engineering and Technology > Electronics and Communication Engineering > Artificial Neural Networks
Divisions:	Engineering and Technology > Department of Mechanical Engineering
ID Code:	84
Deposited By:	Anshul Baranwal
Deposited On:	05 May 2009 17:28
Last Modified:	14 Jun 2012 17:21
Supervisor(s):	Parhi, D R