Designing the Concurrent Searching and Pathfinding Algorithm for Swarm Robotics

The problem of finding a target and forming a path to it is known and is well-explored in the field of swarm robotics. Using swarm intelligence, even swarms of simple robots are capable of solving this problem. However, often these works assume that two robots can perceive each other can physically reach each other, or that robots can detect any...

Development of a module with driving and walking capability: Study in the feasibility for application with a ZebRo robot

Robots that use legged locomotion have the ability to overcome obstacles and can negotiate a wide range of difficult terrains, such as encountered in outer-space missions. In many practical scenarios however, their applicability is still limited, mainly due to insufficient speed and efficiency. On the other hand, robots that use wheeled...

Swarm robot localization from noisy distance measurements

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The effect of morphology of a legged robot on traversing rough terrain

When a disaster strikes a human-engineered environment, it can be difficult and dangerous for rescue workers to search for survivors. Collapsed buildings, fire and other hazards can make specific areas too dangerous to send in a human or dog. In this case, urban search and rescue (USAR) robots can be useful. Various researches have been...

A Robotic Arm for Zebro

This thesis describes the choices, the implementation and the testing of the robotic arm for the Zebro. The Zebro is a rover designed for the European Rover Challenge (ERC). The design of the arm should be modular and be able to perform the tasks of the ERC. An arm was designed with five degrees of freedom. The motors chosen to drive the joints...