Akademik Veri Yönetim Sistemi
Tezin Türü: Yüksek Lisans
Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Bilgisayar Mühendisliği Bölümü, Türkiye
Tezin Onay Tarihi: 2008
Öğrenci: HANDE ÇELİKKANAT
Danışman: EROL ŞAHİN
Özet:In this thesis, we study how and to what extent a self-organized mobile robot flock can be guided by informing some of the robots within the flock about a preferred direction of motion. Specifically, we extend a flocking behavior that was shown to maneuver a swarm of mobile robots as a cohesive group in free space, avoiding obstacles. In its original form, this behavior does not have a preferred direction and the flock would wander aimlessly. In this study, we incorporate a preference for a goal direction in some of the robots. These informed robots do not signal that they are informed (a.k.a. unacknowledged leadership) and instead guide the swarm by their tendency to move in the desired direction. Through experimental results with physical and simulated robots we show that the self-organized flocking of a robot swarm can be effectively guided by an informed minority of the flock. We evaluate the system using a number of quantitative metrics: First, we propose to use the mutual information metric from Information Theory as a dynamical measure of the information exchange. Then, we discuss the accuracy metric from directional statistics and size of the largest cluster as the measures of system performance. Using these metrics, we perform analyses from two points of views: In the transient analyses, we demonstrate the information exchange between the robots as the time advances, and the increase in the accuracy of the flock when the conditions are suitable for an adequate amount of information exchange. In the steady state analyses, we investigate the interdependent effects of the size of the flock in terms of the robots in it, the ratio of informed robots in the flock over the total flock size, the weight of the direction preference behavior, and the noise in the system.