Modeling robot swarms using agent-based simulation

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dc.contributor.advisorBradley, Gordon
dc.contributor.advisorHiles, John
dc.contributor.authorDickie, Alistair James
dc.contributor.departmentOperations Research
dc.contributor.secondreaderBuss, Arnold
dc.date.accessioned2012-03-14T17:47:15Z
dc.date.available2012-03-14T17:47:15Z
dc.date.issued2002-06
dc.description.abstractIn the near future advances in mechanical and electrical engineering will enable the production of a wide variety of relatively low cost robotic vehicles. This thesis investigates the behavior of swarms of military robots acting autonomously. The Multi-Agent Robot Swarm Simulation (MARSS) was developed for modeling the behavior of swarms of military robots. MARSS contains state, sensing, and behavioral model building tools that allow a range of complex entities and interactions to be represented. It is a model-building tool that draws theory and ideas from agent-based simulation, discrete event simulation, traditional operations research, search theory, swarm theory, and experimental design. MARSS enables analysts to explore the effect of individual behavioral factors on swarm performance. The performance response surface can be explored using designed experiments. A model was developed in MARSS to investigate the effects of increasing behavioral complexity for a search scenario involving a swarm of Micro Air Vehicles (MAV's) searching for mobile tanks in a region. Agreement between theoretical and simulated search scenarios for simple searchers was found. The effect of increased MAV sensory and behavioral capability was demonstrated to be important. Little improvement was observed in swarm performance with these capabilities, however agent performance was adversely affected by reacting to increased knowledge in the wrong way. The utility of MARSS for conducting this type of analysis was demonstrated.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.
dc.description.serviceCaptain, Australian Armyen_US
dc.description.urihttp://archive.org/details/modelingrobotswa109455938
dc.format.extentxx, 109 p. : ill. (some col.) ;en_US
dc.identifier.urihttps://hdl.handle.net/10945/5938
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsCopyright is reserved by the copyright owner.en_US
dc.subject.authorRoboten_US
dc.subject.authorSwarmingen_US
dc.subject.authorSwarmen_US
dc.subject.authorMulti-Agenten_US
dc.subject.authorAgent-Baseden_US
dc.subject.authorSimulationen_US
dc.subject.lcshRoboticsen_US
dc.subject.lcshMilitary applicationsen_US
dc.subject.lcshUnited Statesen_US
dc.subject.lcshSwarming (Military science)en_US
dc.titleModeling robot swarms using agent-based simulationen_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineOperations Researchen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameM.S. in Operations Researchen_US
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