Investigation of coordination algorithms for swarm robotics conducting area search

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Authors
Lau, Dylan Z.
Subjects
aerial surveillance
collective robotics
swarm intelligence
swarm search
Advisors
Chung, Timothy H.
Davis, Duane
Date of Issue
2015-09
Date
Sep-15
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
This master’s thesis developed an operational coordination controller for enabling sensor-based coverage algorithms for large-scale swarm unmanned aerial vehicles (UAVs). The prototype controller was validated by live-fly field experiments of swarm UAVs carried out in Naval Postgraduate School’s (NPS’s) field laboratory at Camp Roberts. The proliferation of hobbyist drones, or UAVs, in recent times has presented the opportunity to field large-scale swarm UAVs. A coordinated swarm of UAVs can prove useful in a surveillance or search mission by rapidly covering the area through data collection from multiple vantage points simultaneously. This thesis designed and implemented an onboard swarm search controller that coordinates the swarm for an autonomous area search with different coverage algorithms. The coverage algorithms are evaluated with simulation and validated by live-fly field experiments.
Type
Thesis
Description
Series/Report No
Department
Computer Science
Computer Science
Organization
Identifiers
NPS Report Number
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Distribution Statement
Approved for public release; distribution is unlimited.
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Copyright is reserved by the copyright owner.
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