Show simple item record

dc.contributor.advisorHarkins, Richard
dc.contributor.authorArmandt, David
dc.dateJun-16
dc.date.accessioned2016-08-02T19:35:00Z
dc.date.available2016-08-02T19:35:00Z
dc.date.issued2016-06
dc.identifier.urihttp://hdl.handle.net/10945/49465
dc.description.abstractRecent commercial developments in small, low cost real-time kinematic GPS sensors enable position realization for light, mobile platforms with centimeter-level accuracy. With a high degree of positional confidence, we explore the feasibility of close-proximity operations of cooperative autonomous agents in an outdoor, GPS-enabled environment. A computer-simulated hookian spring force is used to control a swarm of robotic agents, a technique called artificial physics. The computer model applies a proportional spring constant based o position information, and the resultant force is applied to each agent respectively. We validate the model by comparing it to analytic solutions, then further refine the model by comparing it to field testing data. With an accurate model of the system, user-defined tasks are tested in simulations and the same algorithm then controls the behavior of the robotic swarm in an outdoor environment.en_US
dc.description.urihttp://archive.org/details/controllingrobot1094549465
dc.publisherMonterey, California: Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titleControlling robotic swarm behavior utilizing real-time kinematics and artificial physicsen_US
dc.typeThesisen_US
dc.contributor.secondreaderBingham, Brian
dc.contributor.departmentPhysicsen_US
dc.subject.authorMultiple robot coordinationen_US
dc.subject.authorrobotic swarmen_US
dc.subject.authorrobotic swarm behavioren_US
dc.subject.authorreal-time Kinematic GPSen_US
dc.subject.authorRobot Operating Systemen_US
dc.description.serviceLieutenant, United States Navyen_US
etd.thesisdegree.nameMaster of Science in Applied Physicsen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineApplied Physicsen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record