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    Rapidly-exploring Random Tree Inspired Multi-robot Space Coverage

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    GHOSHAL-THESIS.pdf (3.023Mb)
    Date
    2012-07-16
    Author
    Ghoshal, Asish
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    Abstract
    Inspired by the Rapidly-exploring Random Tree (RRT) data-structure and algorithm for path planning, we introduce an approach for spanning physical space with a group of simple mobile robots. Emphasizing minimalism and using only InfraRed and contact sensors for communication, our position unaware robots physically embody elements of the tree. Although robots are fundamentally constrained in the spatial operations they may perform, we show that the approach -implemented on physical robots- remains consistent with the original data-structure idea. In particular, we show that a generalized form of Voronoi bias is present in the construction of the tree, and that such trees have an approximate space-filling property. We present an analysis of the physical system via sets of coupled stochastic equations: the first being the rate-equation for the transitions made by the robot controllers, and the second to capture the spatial process describing tree formation. We also introduce a class of fixed edge length RRTs called lRRT and show that lRRT s have similar space-filling properties to that of RRTs. We are able to provide an understanding of the control parameters in terms of a process mixing-time and show the dependence of the Voronoi bias on an interference parameter which grows as O*sqrt(N).
    URI
    http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11217
    Subject
    RRT
    Multi-Robot systems
    space-filling
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    • Electronic Theses, Dissertations, and Records of Study (2002– )
    Citation
    Ghoshal, Asish (2012). Rapidly-exploring Random Tree Inspired Multi-robot Space Coverage. Master's thesis, Texas A&M University. Available electronically from http : / /hdl .handle .net /1969 .1 /ETD -TAMU -2012 -05 -11217.

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