An autonomous multi-robot system for stigmergy-based construction / Michael Allwright ; [Thesis supervisor: Prof. Marco Dorigo, Ph.D., Thesis co-supervisor: Dr. Navneet Bhalla, Ph.D.]. Paderborn, 2017
Inhalt
- Abstract
- Acknowledgements
- Contents
- 1 Introduction
- 1.1 Construction by autonomous robots
- 1.2 Construction in nature
- 1.3 Problem statement
- 1.4 Contributions and publications
- 1.5 Thesis structure
- 2 Related Work in Multi-Robot Construction
- 2.1 Overview
- 2.2 Construction using centralized infrastructure
- 2.3 Construction without centralized infrastructure
- 2.4 Summary
- 3 System Architecture
- 3.1 Design of a multi-robot ACS
- 3.2 Adaptation of a decentralized control strategy
- 3.3 Architecture of our multi-robot ACS
- 3.4 Summary
- 4 Implementation of the Hardware
- 5 Implementation of the Simulation
- 5.1 The ARGoS simulator
- 5.2 Extensions to the ARGoS simulator
- 5.3 Modeling hardware in simulation
- 5.4 Verification of the simulation
- 6 Results and Demonstrations
- 7 Conclusion
- A Description of a Stigmergic Block in ARGoS
- B Description of an Autonomous Robot in ARGoS
- Bibliography