Autonomous Swarms of Unmanned Vehicles: Software Control System and Ground Vehicle Testing
| dc.contributor.advisor | Jacob, Bruce L | en_US |
| dc.contributor.author | Kirsch, Patricia Jean | en_US |
| dc.contributor.department | Electrical Engineering | en_US |
| dc.contributor.publisher | Digital Repository at the University of Maryland | en_US |
| dc.contributor.publisher | University of Maryland (College Park, Md.) | en_US |
| dc.date.accessioned | 2005-10-11T10:51:12Z | |
| dc.date.available | 2005-10-11T10:51:12Z | |
| dc.date.issued | 2005-08-11 | en_US |
| dc.description.abstract | Unmanned vehicles are being developed for a wide variety of scientific, and military uses. Using a coordinated team allows for greater robustness, flexibility or ease of use. While there are several unmanned vehicle systems in use for a variety of applications, work on swarming has been largely theoretical. This thesis presents Woodstock, a software system implementing a swarming control law. The control law moves the swarm through waypoints specified by GPS coordinates. It was tested using a set of ground vehicles, which are also described. It is shown to be robust to noise, and superior to a previous implementation. The previous implementation was client server, making it vulnerable to a single vehicle loss, while the new system is peer to peer and thus more robust. The system is flexible enough to be portable to other vehicle systems easily. | en_US |
| dc.format.extent | 653834 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1903/2993 | |
| dc.language.iso | en_US | |
| dc.subject.pqcontrolled | Engineering, Electronics and Electrical | en_US |
| dc.subject.pquncontrolled | unmanned vehicles | en_US |
| dc.subject.pquncontrolled | swarming | en_US |
| dc.subject.pquncontrolled | flocking; | en_US |
| dc.title | Autonomous Swarms of Unmanned Vehicles: Software Control System and Ground Vehicle Testing | en_US |
| dc.type | Thesis | en_US |
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