Print Email Facebook Twitter Designing the Concurrent Searching and Pathfinding Algorithm for Swarm Robotics Title Designing the Concurrent Searching and Pathfinding Algorithm for Swarm Robotics Author van den Berg, Rob (TU Delft Electrical Engineering, Mathematics and Computer Science) Contributor Venkatesha Prasad, Ranga Rao (mentor) Verhoeven, C.J.M. (graduation committee) Amjad Yousef Majid, Amjad (graduation committee) Degree granting institution Delft University of Technology Programme Electrical Engineering | Embedded Systems Project Zebro project Date 2023-02-27 Abstract 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 target within communication range. These assumptions do not hold for all swarms and environments. This thesis introduces the CSP (Concurrent Searching and Pathfinding) algorithm to make path finding possible in simple swarms without relying on these assumptions. By strategically constructing and reconstructing an ephemeral network of stationary robots and relocating the rest of the robots throughout this network, swarms performing CSP can efficiently find targets with minimal risk of fracturing the network. The effect of packet loss, and swarm size, as well as the the execution time vis-à-vis creation of new anchors are shown. Subject swarm roboticsalgorithmzebroCSPConcurrent Searching and PathfindingSearchingPathfindingforagingleader electionSwarmingargossimulations To reference this document use: http://resolver.tudelft.nl/uuid:fdf7d066-6b18-4f95-b534-21df31b34700 Embargo date 2024-12-31 Part of collection Student theses Document type master thesis Rights © 2023 Rob van den Berg Files file embargo until 2024-12-31