Title:  Local Encounters in Robot Swarms: From Localization to Density Regulation

Committee:

Dr. Magnus Egerstedt, ECE, Chair , Advisor

Dr. Seth Hutchinson, ECE

Dr. Yorai Wardi, ECE

Dr. Daniel Goldman, Physics

Dr. Dylan Shell, Texas A&M

Abstract:

In naturally occurring swarms---living as well as non-living---local proximity encounters among individuals or particles in the collective facilitate a broad range of emergent phenomena. In the context of robot swarms operating with limited sensing and communication capabilities, this thesis demonstrates how the systematic analysis of inter-robot encounters can enable the swarm to perform useful functions without the presence of a central coordinator. We combine ideas from stochastic geometry, statistical mechanics, and biology to develop mathematical models which characterize the nature and frequency of inter-robot encounters occurring in a robot swarm. These models allow the swarm to perform functions like localization, task allocation, and density regulation, while only requiring individual robots to measure the presence of other robots in the immediate vicinity---either via contact sensors or binary proximity detectors.