Pusat Pengajian Kejuruteraan Mekanikal - Tesis

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Path formation using b.a.t.m.a.n. approach in robot swarms
(2010-04-01)
Bakri, Mohd Ajmal
Swarm robotics is a popular field in robotic intelligence that focuses on controlling large number of multi-agent system. In this thesis I present the path formation in robot swarms and with B.A.T.M.A.N approach which is the improvement and better approach of Mobile Ad Hoc Networking. The objective is to create a simulation of path formation by multiple agents in an arena. And at the same time to apply the B.A.T.M.A.N approach in terms of their communications among the agents. Two parameters are tested in this project. They are the number of agents and their sensing range with respect to the efficiency of path formation. The hardest part is to make the agents connect a path from one point to another point while moving randomly in the arena. The first step is to study relevant topics regarding the path formation in robot swarms and also about the Ad Hoc Networking. The next step is to apply those theory and approach into a simulation in a software called NetLogo 4.0.4. However, before actually constructing the model design, the basic command and interface of the software must be learned. The outcome of this project has proven the hypothesis. The path formation is correctly done and the parameters that are affecting the efficiency of path formation are proven.