Distributed Maze Solving By Cooperative Robotic Platforms
Beisel, Brian W.
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Problem solving based on sensor created area maps is a challenging problem that can benefit from a multi-robot approach. Cooperative problems are most eloquently designed through distributed services and systems. This thesis designs and implements a full distributed maze solving solution using simulated robotic sensor platforms. A distributed spatial communication system was developed and tested as a contributing element of the maze solving solution. Autonomous algorithms for communication, cooperation, and navigation were constructed and tested through simulation in maze solving tests. Working with an assumed map creating technology in tandem with the aforementioned developed technologies resulted in an effective complete solution. Although a great deal of future work is recommended to address imperfect mapping complications, it was found through simulation and mathematical analysis that multiple cooperative robotic platforms can result in significant performance improvements.