DEVELOPMENT OF AN EXTENSIBLE HETEROGENEOUS SWARM ROBOT PLATFORM

---

Thesis Type: Postgraduate

Institution Of The Thesis: Middle East Technical University, Graduate School of Natural and Applied Sciences, MAKİNE MÜHENDİSLİĞİ ANABİLİM DALI, Turkey

Approval Date: 2022

Thesis Language: English

Student: CEM BİLALOĞLU

Principal Supervisor (For Co-Supervisor Theses): Ali Emre Turgut

Co-Supervisor: Erol Şahin

Open Archive Collection: AVESIS Open Access Collection

Abstract:

This thesis introduces Kobot -- an extensible heterogeneous swarm robot platform. Kobot platform uses a common hardware and software architecture based on off-the-shelf components, 3-D printing, and open-source software that evolves with state of the art. Robots built using this common architecture range from wheeled to flying robots and formed a heterogeneous swarm. The common architecture enabled developing and testing systems for the lightweight flying robots on resourceful ground robots. As a result, Kobot platform proved its significance for the future of swarm robotics research with multiple novel swarm behaviors implemented for the first time in real robots.