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...

AudioLocNet: Deep Neural Network Based Audio Source Localization for Inter Robot Localization

For my Master’s thesis, I developed and trained an audio-based localization system for indoor localization called AudioLocNet. AudioLocNet is based on convolutional neural networks and maps recordings from a small(10cm diameter) microphone array to a grid of locations around said array. AudioLocNet was made to be used by swarms of small robots...

Toward Reliable Robot Navigation Using Deep Reinforcement Learning

Reliable indoor navigation in the presence of dynamic obstacles is an essential capability for mobile robot deployment. Previous work on robot navigation focuses on expanding the network structure and hardware setup leading to more complex and costly systems. The accompanying physical demonstrations are often limited to slow-moving agents and...

Phase Cancellation and Range Extension in Backscatter Networks

Progress has been made recently in the research of equal hierarchy backscatter communications. There are, however, challenges to overcome before this technology can become mainstream. For example, state-of-the-art solutions to the phase cancellation problem that occurs in such networks are still trivial and sub-optimal, especially in terms of...